With multiple segments and associated universal joints, a segmented hyper-redundant manipulator can perform on-orbital servicing tasks in confined space due to its superior flexibility and dexterity. However, its inverse kinematics resolving and trajectory planning are challenging because of special structure and strict environment constraints. In this paper, we propose an equivalent kinematics modelling and pose-configuration simultaneous planning method to perform given missions with high efficiency. First, a kinematic equivalence arm (KEA) with revolution joints is constructed by rearranging the associated universal joints of each segment. The motion of n associated universal joints in each segment is simplified as that of a serial arm composed of 1 Roll and n coplanar Yaw joints. The endpoint pose (position and orientation) of the KEA is the same as that of each segment; its shape is also easily described as the Roll angle and the normal vector of the configuration plane. Correspondingly, the kinematics of the whole manipulator composed of N segments is modeled as the combined kinematics of N KEAs. Here KEAs is denoted as the kinematic equivalence model of the proposed manipulator. Then, its configuration represented by KEAs' shape parameters and end-effector's pose are planned simultaneously according to the environment constraints. Finally, trajectory tracking and narrow space detection task are simulated and experimented respectively. The results of trajectory tracking show that the computation time of the proposed method is greatly reduced. The simulation and experiment results of narrow space detection verify the proposed method.

分段式超冗余机械手具有多个分段和相关的万向节，由于其卓越的灵活性和灵巧性，可以在有限的空间内执行在轨维修任务。然而，由于特殊的结构和严格的环境限制，其逆运动学解析和轨迹规划具有挑战性。在本文中，我们提出了一种等效的运动学建模和姿态配置同时计划方法，可以高效地执行给定的任务。首先，通过重新布置每个节段的相关万向节来构造带有旋转接头的运动当量臂（KEA）。每个段中n个相关联的万向节的运动简化为由1个Roll和n个组成的串联臂的运动共面偏航接头。KEA的端点姿势（位置和方向）与每个段的端点姿势相同；它的形状也很容易描述为侧倾角和配置平面的法线向量。相应地，构成的整个操纵器的运动学Ñ段被建模为的组合运动学ÑKEA。在这里，KEA被表示为所提出的机械手的运动学等效模型。然后，根据环境限制，同时计划以KEA的形状参数和末端执行器的姿势表示的配置。最后，分别对轨迹跟踪和狭窄空间检测任务进行了仿真和实验。轨迹跟踪结果表明，该方法的计算时间大大减少。狭窄空间检测的仿真和实验结果验证了该方法的有效性。