Water strider is a highly flexible aquatic insect. Inspired by the motion process of the water strider, Bioinspired parallel mechanism (BPM) composed of three bioinspired sub-mechanisms is proposed. BPM can be used as the fundamental module of the serial-parallel deployable grasping manipulator for space capture. The movement behavior of water strider can be abstracted to synthesize multiple configurations. Certain sub-mechanism configuration was selected, enabling BPM to have excellent bending and folding capabilities, which are of great significance for its application in the bioinspired grasping manipulator. The mobility analysis of BPMs was initially investigated by employing graph and screw theory, while verified by ADAMS. Subsequently, the validity of the BPM was further confirmed by prototype manufacturing, and load-bearing capability experiments were conducted. The results indicated that BPM can stably support a load over 34.2 times of its own weight and has the characteristics of “excellent deformation and high load,” making it suitable as a basic module for space grasping mechanism. Bioinspired serial-parallel manipulator (BSPM) based on BPM is presented and research of its workspace is conducted. This work is intended to advance the development of space manipulators by leveraging understanding of bionic structures and potentially highlight that BPM can be used in many applications.
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