基于质量分配的空间机械臂刚度优化

刚度是空间机械臂的重要性能指标。在材料与构型确定的情况下,空间机械臂部件的刚度与部件的体积和质量正相关。由于空间机械臂的总质量受限,所以进一步提高刚度非常困难。文章提出一种在总质量一定的条件下,对空间机械臂的关节、臂杆等重要部件的质量指标进行优化分配,从而提高整体刚度的方法。在建立空间机械臂受力变形模型的基础上,通过分析部件受力变形与部件质量之间的关系,在总质量一定的约束条件下,以受力变形为目标函数,采用拉格朗日乘数法对部件的质量进行优化,得到使受力变形达到极小值的重要部件的质量指标。

Stiffness Optimization of Space Manipulator Based on Mass Allocation

The stiffness is a crucial problem for a space manipulator.It is very difficult to construct a high stiffness space manipulator with limited mass since high stiffness manipulator usually requires high expenditure on mass and volume.A method of stiffness optimization was presented to improve the stiffness of a space manipulator with limited mass.First,the stiffness model was established.Then,an optimization algorithm based on mass allocation was proposed.Finally,the optimum proportion between component mass and dimension was calculated.