A Kinetic Simulation Mechanism of Torque-Free Satellites Based on A Mobile Parallel Manipulator

This paper presents a kinetic simulation mechanism of torque-free satellites, which is based on a mobile parallel manipulator (MPM). First, kinetics of the mechanism and torque-free satellites is characterized. Next we develop an adaptive architecture to efficiently search the simulation mechanism's workspace with or without the mobile base. Then, a dynamic programming method is proposed to plan the MPM's trajectory. This method computes manipubility and the singularity avoidance coefficient of the stewart platform and optimize the trajectory in terms of smoothness and velocity, it ensures that the mobile base moves smoothly and the stewart platform has enough space to compensate the mobile base's movement error. Finally, the experiment results verify the feasibility and effectiveness of the simulation mechanism as well as the planning algorithm.