Due to the super flexibility and strong nonlinearity of space membrane antennas, the dynamic response of a space membrane antenna will be affected by the rigid–flexible coupling effect in the process of orbital maneuvering. In this case, the dynamic model of a tensioned membrane antenna is significantly different from that under the general condition (fixed boundary). In this study, a nonlinear dynamic model of a tensioned space membrane antenna experiencing maneuvering is established, and the influence of the rigid–flexible coupling effect on structural stiffness and damping characteristics is described. Through a numerical solution, the effects of rigid body motion and structural natural frequency on the rigid–flexible coupling effect are discussed. The results show that the vibration frequency and amplitude of the antenna are positively correlated with the acceleration and initial velocity of rigid body motion. With the increase of the natural frequency of the antenna, the vibration frequency increases but the amplitude decreases. The rigid–flexible coupling nonlinear dynamic model proposed in this work is more applicable in intelligent vibration control compared to finite element software.

Compared with non-redundant manipulators, the self-motion of 7-DOF redundant manipulators results in an infinite number of inverse kinematics solutions for a desired end-effector pose. This paper proposes an efficient and accurate analytical solution for inverse kinematics of SSRMS-type redundant manipulators. This solution is applicable to SRS-type manipulators with the same configuration. The proposed method involves introducing an alignment constraint to restrain the self-motion and to decompose the spatial inverse kinematics problem into three independent planar subproblems simultaneously. The resulting geometric equations depend on the part of the joint angles, respectively. These equations are then computed recursively and efficiently using the sequences of $({\theta }_1,{\theta }_7)$, $({\theta }_2,{\theta }_6)$, and $({\theta }_3,{\theta }_4,{\theta }_5)$, generating up to sixteen sets of solutions for a given desired end-effector pose. Additionally, two complementary methods are proposed for overcoming the possible singular configuration and judging unsolvable poses. Finally, numerical simulations are conducted to investigate the performance of the proposed approach in terms of average calculation time, success rate, average position error, and the ability to plan a trajectory with singular configurations.