Kinematic characteristic study of space snake manipulator

Abstract

For question of traditional space manipulator which kinematic characteristic is worse, replace the manipulator with ground snake-like robots, and bring forward a new type space snake manipulator. Takes it as the study object, the paper analyze and simulate the kinematic characteristic which concludes workspace and dexterous. From the results, the following conclusion can own: The space snake manipulator can advance the kinematic redundancy in the case of the less number of link, and avoid the limitation of workspace reducing which caused by dynamic singularity, and can increase the dexterous characteristics of the end-manipulator.