Kinematics and Performance Analysis of 5-DOF Space Serial Manipulator

With the smooth progress of the construction of space stations and manned space programs in various countries, astronauts are required to be in space to conduct scientific experiments and station maintenance. Essential to this is the capture and release of the object, which requires a space manipulator to assist in the operation. However, conventional manipulators often have limited degrees of freedom, simplistic control mechanisms, and restricted flexibility for obstacle avoidance in space. To address this issue, a 5-degree-of-freedom (DOF) space manipulator has been designed. Firstly, utilizing an improved D-H (Denavit - Hartenberg) method, a kinematics model for the series manipulator is established to analyze its position and velocity. Secondly, SolidWorks and MATLAB software are employed to compare and validate the analysis results. Finally, by employing Monte Carlo method to assess workspace and dexterity of the serial manipulator design. Thus, it provides kinematic model and theoretical basis for aerospace industry.