This paper studies the stability control strategy of a seven-degree-of-freedom space manipulator carrying a massive load, and uses computer simulation to analyze the minimum impact force of the manipulator when grasping the load. It is found that the impact force generated by the robot arm is affected by the arm length, mass, power and other related factors, among which the mass is the most affected, about 10% higher than other parameters. In addition, it is found in the experiment that the heavier the mass of the robot arm, the greater the impact; Through this experimental simulation, the minimum impact of the robot arm when grasping the load is between 2-4, and the working efficiency of the robot arm is not reduced. This shows that the manipulator can improve its efficiency by reducing the impact when grasping the load.

Jiajun Tang, Junlin Huang, Wei Luo, Dawei Zhang, Muhan Wu, Yu Cheng, Wei Lu. Minimal Impact of Manipulator When Grabbing Load. International Journal of Frontiers in Engineering Technology (2024), Vol. 6, Issue 5: 117-125. https://doi.org/10.25236/IJFET.2024.060517.

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