Topology Synthesis of Hybrid Space Control Mechanism Based on FIS Theory

Driven by the significant demand for space control mechanism in the development of national space field, topology synthesis method for the hybrid mechanism based on finite and instantaneous screw (FIS theory) is studied in this paper. The number and types of degrees of freedom (DOF) required for capturing, detumbling, screwing and plugging control tasks are analyzed in depth, and the simplest mathematical expression of continuous motion corresponding to space control tasks are formed. According to the requirements of space control task, the synthesis principle of serial and parallel mechanism is proposed, and the arrangement principle of expected motion pattern is summarized. The standard limb is analytically characterized based on the expected motion pattern, and derivative limbs satisfying the expected motion pattern are derived based on joint equivalent transformation. By determining assembly conditions, the available topological structures satisfying the requirements of space control tasks are generated. Based on serial and parallel mechanisms that satisfy design principles, the simplest analytical expression of the topology of hybrid space control mechanism is obtained using finite screw principle. The general topology synthesis method of hybrid mechanisms is established, and various topological structures of hybrid space control mechanism are obtained, which lays a foundation for the research and development of novel hybrid space control mechanisms.