| description abstract | The space manipulator can assist astronauts to accomplish space activities, including docking, fixing, and grasping. It is subjected to thermal radiation and produces thermal deformation during orbit operation, which makes the operation of the space manipulator deviate from the predetermined trajectory and further affects its positioning accuracy. Therefore, to solve the problem of bidirectional coupling thermal–structural deformation analysis and positioning accuracy for space manipulator, based on the thermal–structural bidirectional coupling deformation analysis, a method of its thermal deformation on the output positioning accuracy of space flexible manipulator is proposed. It analyzes the bidirectional coupling relationship between the temperature and thermal deformation of the manipulators. Then, the influence of thermal deformation on the output joint error and end positioning accuracy of the space manipulator is analyzed. Finally, the validity of this method is verified by numerical analysis. Compared with the unidirectional coupling model, the bidirectional coupling model comprehensively considers the structure, deformation, and temperature of manipulators. It is closer to the real system. Thermal deformation will reduce the reliable runtime of the space manipulator in orbit. The study provides a theoretical basis for its thermal design and control. | |
