Design and optimization of mechanical analogue element of space manipulator

A design method for equivalent mechanical character of manipulator is put forward to cut down ground mechanical experiment cost of manipulator and reflect its mechanical character more veritably. Furthermore, the parameters of mechanical analogue element of manipulator are optimized. Axletree rigidity and joint torsion rigidity are equivalently designed on the basis of manipulator structure principle. The parameters of mechanical analogue element of manipulator are optimized through objective obtained method. The comparison between mechanical analogue element and mass, centroidal coordinate, moment of inertia of centroid on each direction and other critical parameters of each mass module of the manipulator is made. The result shows that mechanical parameters between mechanical analogue element and each joint module are almost the same. The mechanical analogue element can satisfy experimental demand, thus reduceing the experimental cost of mechanical circumstance.