Topological design and kinematic analysis of a novel hybrid space control mechanism

Abstract

In order to meet the demand of space mechanism for Chinese space station, a novel hybrid space control mechanism is designed. The hybrid space control mechanism is made up of a serial mechanism and a parallel mechanism. The serial mechanism realizes large workspace and the parallel mechanism provides excellent position accuracy. The physical prototype of the novel hybrid space control mechanism is built up, and the mobility and foldability of the serial mechanism are exhibited. Its kinematic and workspace analysis are carried out, which correctness is verified through comparison with simulation results. The aforementioned research laid a solid foundation for future study about the hybrid space control mechanism.