Attitude analysis of reachable space for spatial manipulator

Space manipulators are mainly used in the spatial loading task. According with the problems of the spatial loading diversity, the testing loading installing position and the utilization ratio of the test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper first put forward the concept of the Omni-directional Coefficient, which can evaluate any point in the attainable domain of the manipulators, with the combination of the manipulation´s position message, and got the relationship between its position and attitude of all points in the attainable domain. Second, it represented the attitude of the end-effectors with attitude sphere. At last, proposed the method to evaluate the Omni-directional characters of the whole manipulator. This paper analyzed space manipulator experiment data analysis, using the method of numerical computation and graphic display. On the one hand, compared the Omni-directional Coefficient with the early quantitative representation used analytical method, on the other hand, vividly showed the Omni-directional Coefficient, Omni-directional space and the distribution of the Omni-directional in the attainable domain when the manipulator is the initial point. At last, we got the Omni-directional Coefficient of the whole manipulator by data analysis method.