Reachable space analysis of the Space Manipulator with Free-Swinging Joint Failure

For the space manipulator with free-swinging joint failure, when the base is in free-floating state, the base and free- swinging joints cannot output torque, which easily leads to the failure of space on-orbit operation. To ensure the successful completion of the task, this paper first analyzes the kinematic coupling relationship between the active joints, the base and the free-swinging joint; then the reachable range of the base angle and the free-swinging joint angle, and the reachable space of the end effector of the faulty manipulator is analyzed; finally, simulation experiments are carried out on the 7-DOF space manipulator with floating base and free-swinging joints, and the correctness and effectiveness of the proposed method are verified.