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

doi:10.16708/j.cnki.1000-758X.2025.0094

Chinese Space Science and Technology ›› 2025, Vol. 45 ›› Issue (6): 121-132.doi: 10.16708/j.cnki.1000-758X.2025.0094

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

WANG Chen^1,2，LI Delun^3,4,*，XIE Zongwu³，GAO Bo⁵

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

Abstract

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

WANG Chen, LI Delun, XIE Zongwu, GAO Bo. Dynamic performance optimization of six-axis force/torque sensor for space robot[J]. Chinese Space Science and Technology, 2025, 45(6): 121-132.

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

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