Topology Synthesis of Hybrid Space Control Mechanism Based on FIS Theory

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