Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series-Parallel Manipulators for Capturing Space Noncooperative Targets

The kinematics and dynamics of n(3RRlS) reconfigurable series-parallel manipulators (RSPMs) are the theoretical foundations for capturing noncooperative targets in space. In this study, a unified kinematic and dynamic modeling method of n(3RRlS) RSPMs is proposed based on geometric constraints, the vector method, recursive and inductive methods, and the principle of recursive virtual power, and the kinematic and dynamic modeling progress has clear concepts, unified format, and fast calculation. Then, the theoretical and simulated results of the 3RRlS reconfigurable series-parallel manipulator (RPM) and 3(3RRlS) RSPM are compared verifying the correctness of the derived kinematic and dynamic models. Finally, the reconfiguration, position accuracy, and deformation measurement experiments of the two-driven-unit 3RRlS RPM and 3(3RRlS) RSPM are carried out, and the results show that the 3(3RRlS) RSPM has the advantages of high folding ratio, motion uncoupling, and stiffness improvement.