Stiffness Optimization Design of a Light Space Manipulator

摘要：

A light space manipulator is essential for space activities, the stiffness of such a light manipulator is a crucial problem. In this paper, a method of stiffness optimization is presented to improve the stiffness of a light space manipulator. First, the stiffness model is established, then, an optimization algorithm based on mass allocation is proposed. Finally, the effectiveness of our proposed method is confirmed by the experiments using our developed prototype of a six DOF manipulator.

关键词： Space manipulator Stiffness Optimization

作者: Hongliang Jia Weimin Zhang Qiang Huang Jianxi Li

作者单位: Intelligent Robotics Institute, School of Aerospace Science and Engineering Beijing Institute of Tec Intelligent Robotics Institute, School of Aerospace Science and Engineering Beijing Institute of Tec

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）