中国空间科学技术（中英文）2025，Vol.45Issue(6)：121-132,12.DOI:10.16708/j.cnki.1000-758X.2025.0094
空间机器人用六维力传感器动态性能优化
Dynamic performance optimization of six-axis force/torque sensor for space robot
摘要
Abstract
To meet the force sensing requirements of space robots in medium and high-speed operating environments,a six-axis force/torque sensor for space robot is developed to improve its dynamic performance.Based on the analysis of the static and dynamic characteristics of the sensor,a multi-objective optimization model focusing on dynamic characteristics for the structural parameters is established,which also considers quality,stiffness,strength,and isotropy in a friendly manner.This model involves 11 parameters to be optimized.By means of chaotic map,nonlinear parameter a and linear alpha wolf weight,MOGWO is improved.Based on this,the optimized process combining IMOGWO with FEM is established.Then the Pareto solution set of the optimal structure parameter is obtained.In order to scientifically evaluate the solution set,the comprehensive evaluation framework is established by using TOPSIS and CRITIC method.Finally,the optimal structural parameters are obtained.The simulation and experimental performances of the optimized sensor are analyzed and compared.The results show that the quality of the improved sensor decreases by 5.9%.Meanwhile,the stiffness increases by 7.7%-22.7%,the strength increases by 5.4%-26.9%,the isotropy increases by 4%,the natural frequency increases by 11.1%-35.7%,and the amplitude decreases by 19.4%.This comprehensive analysis method,which combines IMOGWO,FEM,TOPSIS and CRITIC method,has certain engineering guiding significance for solving multi-objective and multi-parameter structural optimization problems.关键词
空间机器人/六维力传感器/多目标灰狼算法/固有频率/质量/各向同性/振幅Key words
space robot/six-axis force/torque sensor/MOGWO/natural frequency/mass/isotropy/amplitude分类
计算机与自动化引用本文复制引用
王晨,李德伦,谢宗武,高波..空间机器人用六维力传感器动态性能优化[J].中国空间科学技术（中英文）,2025,45(6):121-132,12.基金项目
陕西省教育厅科学研究计划项目资助(23JK0310) （23JK0310）
