Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing\nloading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and\nattitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC) with unit attitude sphere/circle to describe\nattitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the\nmanipulation�s position message, and get relationships between its position and attitude of all points in the attainable space. It\nrepresents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume\nof points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator\nOmnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance.Through analysis and\nsimulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships\nabout link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.
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