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.

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