Title :
Stiffness Optimization Design of a Light Space Manipulator
Author :
Jia, Hongliang ; Zhang, Weimin ; Huang, Qiang ; Li, Jianxi
Author_Institution :
Beijing Inst. of Technol., Beijing
Abstract :
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.
Keywords :
aerospace robotics; control system synthesis; manipulators; optimisation; degree of freedom; light space manipulator; mass allocation; space activities; stiffness optimization design; Design optimization; Elbow; Intelligent robots; Manipulator dynamics; Robotics and automation; Shoulder; Space shuttles; Space technology; Space vehicles; Wrist; Optimization; Space manipulator; Stiffness;
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
DOI :
10.1109/ICAL.2007.4338674
