Highlights A stiffness optimization method of locking units for multi-rigid body manipulator was proposed. The equivalent method of the locking stiffness of the locking unit was proposed. > The stiffness optimization guideline of locking units is extended from the adaptive growth laws of plant roots.

    Abstract Based on plant root adaptive growth theory of monocotyledons, a stiffness optimization method of locking unit for multi-rigid body space manipulator is proposed. The optimization process of locking unit stiffness is transformed into the increase and elimination of spring constraints. The kinematic model of the locking unit is established, and the equivalent method of the locking stiffness of the locking unit is proposed to make the three-dimensional support model of the locking unit correspond to the three-dimensional stiffness of the locking space. According to the proposed optimization method of locking unit and equivalent method of locking stiffness, a parallel optimization method is used to optimize the stiffness of space manipulator locking unit. The stiffness optimized locking system is compared with the conventional locking system, and the higher fundamental frequency of the system is verified by simulation analysis, which proves the effectiveness of the stiffness optimization method of the locking unit.


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    Title :

    Stiffness optimization method of locking unit for space manipulator based on plant root adaptive growth theory


    Contributors:
    Wang, Gang (author) / Yao, Yimeng (author) / Wang, Jingtian (author) / Wu, Xinyuan (author) / Huo, Weiye (author) / Wang, Yukun (author) / Zhang, Qihui (author)

    Published in:

    Advances in Space Research ; 71 , 12 ; 5026-5037


    Publication date :

    2023-02-06


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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