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

The method of locking point layout optimization and stiffness configuration for multi-joint complex mechanisms of space manipulator is proposed based on the root adaptive growth theory. A simplified model of the space manipulator and 3D spring support model is established. According to the proposed layout optimization and stiffness configuration method, the parallel optimization method and finite element simulation software are utilized to simulate and analyze the differentiation process of space manipulator locking units and the manipulator systems with different stiffness configurations. The results of the layout optimization and stiffness configuration method are compared with the results of the conventional method. It is verified that the fundamental frequency of the optimization and configuration results is higher than that of the conventional method, and the effectiveness of the optimization and configuration method is verified.