Abstract
The temperature field of structures in space is severely uneven and changes dramatically, which leads to significant thermal-mechanical coupling deformation and vibration. In order to work normally in space, it is necessary to carry out thermal-mechanical coupling analysis and subsequent structural optimization. This paper presents a numerical method to realize the thermal-mechanical coupling analysis and structural optimization of a deployable grasping manipulator (DGM), of which the hexagonal mechanism that composing the manipulator is well studied. The temperature field of the hexagonal mechanism in space is calculated by combining the thermal boundary condition analysis and the heat transfer finite element analysis (FEA). By setting the temperature field as boundary condition of the thermal-mechanical coupling FEA, the deformation and vibration is analysed. Based on the analysis, a multi-objective structural optimization model of the manipulator, of which the optimization objectives are mass, maximum deformation and first-order natural frequency, and the design variables are cross section dimensions of linkages, is established. The response surface model (RSM) based on the optimal Latin Hypercube design (OLHD) is then established to approximate the optimization model, and the Multi-objective Particle Swarm Optimization (MOPSO) algorithm is adopted to solve it. The optimized structure has nearly identical maximum thermal-mechanical deformation to the initial structure, but has significantly lighter mass and higher first-order frequency. The analysis and optimization method presented in this paper is of reference value to reduce the cost of expensive ground thermal vacuum tests.
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Acknowledgement
This work was supported by the Key-Area Research and Development Program of Guangdong Province (Grant No. 2019B090915001), and the Shenzhen Research and Development Program of China (Grant No. JCYJ20200109112818703).
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Cheng, W., Huang, H., Li, B., Jia, G., Peng, F., Wu, A. (2021). Thermal-Mechanical Coupling Analysis and Structural Optimization of a Deployable Grasping Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_41
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DOI: https://doi.org/10.1007/978-3-030-89092-6_41
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