Structural Topology Optimization Research for A Six-DOF Space Robotic Manipulator

摘要

This paper focuses on the lightweight design of the 6-DOF space manipulator designed and assembled independently. The mass ratio of the arm rod is large which matters a lot on the positioning accuracy of the manipulator end. The light weight analysis is carried on to the arm rod of the space robotic manipulator. The stiffness and the natural frequency of each orders are taken as the constrain conditions so called the multi-constrained topology optimization. The optimized iterative design is made with BESO, and the optimized iterative speed is improved by the GBESO way. By comparison of the optimization data, the result shows that the stiffness and natural frequency of the manipulator will not be reduced while the mass of the arm rod is reduced. It proves the effectiveness of the optimization. This method could be applied to the design and optimization of other space manipulator.