Mechanism Evolution and Analysis of a Novel Space Manipulator

With the continuous development of aerospace industry in recent years, space manipulator has attracted much attention because of its excellent performance in aerospace operation. In this work, the topology of space manipulator is obtained through configuration evolution based on the Canadarm2 serving in the international space station. By analyzing the configuration characteristics, a new topological configuration of space manipulator is further optimized, then the structural design and prototype construction are completed. The kinematic model of space manipulator is established by D-H method. By comparing the theoretical calculation results with simulation data obtained from SolidWorks and MATLAB, the effectiveness of the established kinematic model is verified. Based on the kinematic model, the workspace analysis of the new space manipulator is completed by Monte Carlo method.