DocumentCode
3470530
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
fYear
2007
fDate
18-21 Aug. 2007
Firstpage
803
Lastpage
808
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location
Jinan
Print_ISBN
978-1-4244-1531-1
Type
conf
DOI
10.1109/ICAL.2007.4338674
Filename
4338674
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