Volume 8, No. 4, July 2019

General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian R. McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
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Simulation and Analysis of Pose Setting Test of Space Redocking Manipulator End-effector Based on Parallel Mechanism

Xinlin Bai 1, Zhigang Xu 1,2, Mingyang Liu 1, and Meng Yin 1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academic of Sciences, Shenyang, China
2. University of Chinese Academy of Sciences, Beijing, China

Abstract—According to pose setting ground test requirements of space station redocking manipulator end-effector, a method based on parallel mechanism is proposed to meet the demand between actuator and adapter. Firstly, Parallel mechanism of 6-DOF is designed and its working principle of pose setting is described. Secondly, mathematical models of parallel mechanism agile space, kinematic interference characteristics of actuator and adapter and structural statics are established. Finally, workspace search algorithm base on cylindrical coordinates and interference detection algorithm using space geometry are programmed by Matlab, respectively. Simulation results show that movement range of designed parallel mechanism can satisfy the demand of required pose, there is no motion interference between driving branches and adapter, mechanism has good bearing capacity, and the method is also effective.

Index Terms—space station Redocking manipulator, end-effector, pose setting, parallel mechanism

Cite: Xinlin Bai, Zhigang Xu, Mingyang Liu, and Meng Yin, "Simulation and Analysis of Pose Setting Test of Space Redocking Manipulator End-effector Based on Parallel Mechanism" International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 4, pp. 516-522, July 2019. DOI: 10.18178/ijmerr.8.4.516-522