中国空间科学技术

中国空间科学技术 ›› 2025, Vol. 45 ›› Issue (6): 121-132.doi: 10.16708/j.cnki.1000-758X.2025.0094

• 论文 • 上一篇    

空间机器人用六维力传感器动态性能优化

王晨1,2，李德伦3,4,*，谢宗武3，高波5   

  1. 1.陕西工业职业技术大学 航空工程学院，咸阳712000
    2.哈尔滨工业大学 航天学院，哈尔滨150001
    3.哈尔滨工业大学 机器人技术与系统国家重点实验室，哈尔滨150001
    4.北京空间飞行器总体设计部 空间智能机器人系统技术与应用北京市重点实验室，北京100094
    5.陕西电器研究所，西安710065
  • 收稿日期:2024-11-06 修回日期:2025-01-10 录用日期:2025-02-10 发布日期:2025-11-17 出版日期:2025-12-01

Dynamic performance optimization of six-axis force/torque sensor for space robot

WANG Chen1,2，LI Delun3,4,*，XIE Zongwu3，GAO Bo5   

  1. 1.Department of Aeronautical Engineering, Shaanxi Polytechnic University, Xianyang 712000, China
    2.School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
    3.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
    4.Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, CAST, Beijing 100094, China
    5.Shaanxi Electric Appliance Research Institute, Xi’an 710065, China
  • Received:2024-11-06 Revision received:2025-01-10 Accepted:2025-02-10 Online:2025-11-17 Published:2025-12-01

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摘要： 面向空间机器人在中高速作业环境下的力感知需求，针对一款空间机器人用六维力传感器开展以动态特性为主的性能改进。通过数值模拟分析了传感器静力学和动力学特性，建立了综合考虑质量、刚度、强度、各向同性度并以动态特性为核心的空间机器人用六维力传感器结构参数多目标优化模型，涉及待优化结构参数11个。为了提高参数优化效率，设计了基于混沌映射、非线性参数a和线性头狼权重改进的多目标灰狼算法结合有限元仿真分析的优化流程，获取了最优结构参数的Pareto解集，得到有效解30个。为了对解集进行科学评价，借由TOPSIS法结合CRITIC法建立了Pareto解集综合评价框架，得到最优结构参数。最后对比分析了优化前后空间机器人用六维力传感器的仿真和实验性能。结果表明，改进后的空间机器人用六维力传感器质量下降了5.9%，刚度提升了7.7%～22.7%，强度提升了5.4%～26.9%，各向同性度提升了4%，而固有频率提升了11.1%～35.7%，振幅下降19.4%，改进效果显著。所设计的集改进多目标灰狼算法、有限元法、TOPSIS法及CRITIC法的综合分析方法，对解决多目标多参数的结构优化问题具有一定的工程指导意义。

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

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.

Key words: space robot, six-axis force/torque sensor, MOGWO, natural frequency, mass, isotropy, amplitude