Proposes a novel method for analyzing link deformation in space robots, enhancing modeling accuracy and structural optimization.
Space robots must be designed with a large operating radius and lightweight components (flexible joints and flexible links). The integration of flexible components inevitably affects the control accuracy of the robot. When modeling the link deformation of the space robot, the idealized description method has the problem of incomplete accuracy in link deformation due to the coupling effects of the non-fixed base, flexible joints, and changes in control parameters. To address this challenge and improve the accuracy of robot modeling, this study proposes a dynamic coupling analysis method for the link deformation of space robots based on time-domain response. The double finite difference method is adopted to calculate the time-domain response of link deformation. On this basis, using the local linear operator method, the modal information of the deformed links is extracted. This method systematically quantifies the individual and interactive effects of the robot’s base motion, joint flexibility, and control parameters on link deformation. This work not only lays a theoretical foundation for the accurate dynamic modeling of space robots but also provides practical insights for optimizing their structural design. Ultimately, it contributes to the development of more reliable and high-performance space robot systems.
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Zhang et al. (2026) studied this question.
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