Path Planning and Simulation of a Novel 5-DOF Hybrid Perfusion Manipulator

For the automated perfusion of thermal protection layers on large-scale spherical-crown honeycomb structures of spacecraft, path planning and simulation studies are carried out for a five-degree-of-freedom (5-DOF) 5PRR+5PUS-PRPU hybrid perfusion manipulator. According to the manufacturing characteristics of honeycomb perfusion, three perfusion trajectories (circular, square and 5-shaped) are designed for the moving platform, and analytical path planning is implemented for these predefined paths. A simulation control framework based on conventional PID position correction is established for this 5-DOF hybrid manipulator, and comprehensive trajectory tracking simulations are performed under purely kinematic assumptions. The driving simulation of the hybrid manipulator is conducted using the theoretical displacement profiles of driving sliders. Simulated displacement, velocity and acceleration curves of each slider are obtained for different perfusion paths. Meanwhile, the comparisons and tracking error curves between simulated and desired end-effector trajectories are presented. This work verifies the kinematic feasibility of the hybrid manipulator for the perfusion task under ideal conditions and provides theoretical support for its potential aerospace manufacturing application.