Influence of Reconfigurable Modular Robot Arm Linear Module on Configuration

Based on design ideas of reconfigurable modular robotic arm, a reconfigurable modular robotic arm satisfying the strategic mission of China’s space station is studied. Based on the manipulator configuration of the space screw operation task, the kinematics and dynamics models for the non-redundant 6-DOF configuration and the redundant 9-DOF manipulator configuration containing linear modules are established, and the linear type is compared and analyzed. The influence of the linear module on the kinematics and dynamics of each manipulator configuration is compared and analyzed.