CAJ | 학술논문

针对当前空间机械臂存在的工作空间较小、灵活度较低等运动学方面的问题，提出了一种新型空间蛇形机械臂，取代传统的空间机械臂，并以此为研究对象，对其工作空间和灵活度等运动学特性开展了建模与仿真分析。仿真结果表明，空间蛇形机械臂在臂杆数目较少的情况下，可以提高自身的运动学冗余度，避免由于动力学奇异特性带来工作空间减小的缺陷，增大机构自身的路径无关工作空间的范围，同时可以有效地增加臂杆末端操作的灵活度。
침대당전공간궤계비존재적공작공간교소、령활도교저등운동학방면적문제，제출료일충신형공간사형궤계비，취대전통적공간궤계비，병이차위연구대상，대기공작공간화령활도등운동학특성개전료건모여방진분석。방진결과표명，공간사형궤계비재비간수목교소적정황하，가이제고자신적운동학용여도，피면유우동역학기이특성대래공작공간감소적결함，증대궤구자신적로경무관공작공간적범위，동시가이유효지증가비간말단조작적령활도。
Aiming at problem of smaller work space and lower dexterous of traditional space ma‐nipulator ,a new method w hich uses the ground snake‐like robots to replace the traditional space ma‐nipulator is provided .Taking the space snake‐like robots as the study object ,the workspace and dex‐terous are analyzed and simulated .From the simulation results ,the kinematic redundancy of space snake manipulator in the case of the low number of link can be improved and the limitation of work‐space caused by dynamic singularity also can be avoided ,meanwhile the dexterous of the end‐manipu‐lator can be increased .