Yu.N. Artemenko
PhD in Technical Sciences, P.N. Lebedev Physical Institute of the Russian Academy of Sciences, Head of Department, 53, Leninsky Prospekt, Moscow,119991, Russia, tel.: +7(495)135-42-64, This email address is being protected from spambots. You need JavaScript enabled to view it.
S.V. Volkomorov
Bauman Moscow State Technical University, Senior Lecturer, 5-1, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(915)279-77-18, This email address is being protected from spambots. You need JavaScript enabled to view it.
A.P. Karpenko
Doctor of Physical and Mathematical Sciences, Bauman Moscow State Technical University, Associate Professor, Head of Сhair, 5, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(495)263-69-71, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
Structural optimization of the trunk-type manipulator (TTM) for space-laborotory Millimetron is offered. Methodology of structural synthesis of the multisection TTM, including sections' forms and dimentions determination for different optimization criterions and loading types of the manipulator, is developed. Method of configuring and motion path synthesis for TTM in the presence of obstacles, including solving of motion path synthesis problem, based on combination of optimizational and geometrical approaches, is developed. Software implementation of the system is suggested. Synthesis of the manipulators with various platform types is accomplished. Manipulator movement path synthesis problem for different observatory antenna postioning modes is solved.
Key words
Trunk-type manipulator, multisection manipulator, motion path synthesis, structural optimization of manipulator.
Year 2015 Issue number 3 Consecutive issue number 8 Pages 32-37
UDC identifier: 621.865.8-5
