TY - GEN
T1 - Stiffness optimization design of a light space manipulator
AU - Jia, Hongliang
AU - Zhang, Weimin
AU - Huang, Qiang
AU - Li, Jianxi
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Optimization
KW - Space manipulator
KW - Stiffness
UR - http://www.scopus.com/inward/record.url?scp=40649113706&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2007.4338674
DO - 10.1109/ICAL.2007.4338674
M3 - Conference contribution
AN - SCOPUS:40649113706
SN - 1424415314
SN - 9781424415311
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
SP - 803
EP - 808
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
T2 - 2007 IEEE International Conference on Automation and Logistics, ICAL 2007
Y2 - 18 August 2007 through 21 August 2007
ER -