Research on kinematic characteristic of a new flexible space manipulator based on the bionics

Aiming at the problem of harsh operating condition of the space manipulator and not being able to support great collision Momentum, this paper proposes a new concept and technical method, called soft-contact technology. According to this, the paper designs a space manipulator joint configuration based on bionics and carries out its rigid-flexible composite characteristic simulation. Simulation results show that the rigid member of the joint configuration has the ability to complete the path planning. meanwhile the flexible controllable damper is able to implement attenuate collision momentum between the base and the manipulator, and transfers stepped collision momentum to harmonic attenuation momentum.