Deployment Dynamics Modeling and Motion Planning of Modular Deployable Antenna Mechanism

被引：0
|
作者：
Tian D. [1 ]
Guo Z. [1 ]
Jin L. [2 ]
Fan X. [3 ]
Liu R. [3 ]
机构：
[1] School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang
[2] School of Civil Engineering, Shenyang Jianzhu University, Shenyang
[3] State Key Laboratory for Robotics and System, Harbin Institute of Technology, Harbin
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 17期
关键词：
deployable antenna; deployment dynamics; modular structure; motion planning;
D O I：
10.3901/JME.2023.17.056
中图分类号：
TN2 [光电子技术、激光技术];
学科分类号：
0803 ; 080401 ; 080901 ;
摘要：
Modular deployable antenna has the characteristics of flexible expansion, good versatility and strong adaptability. It is a new type of aerospace equipment to meet the future development trend of large-aperture antenna. In order to master the dynamic characteristics of modular deployable antenna, a deployment dynamics model and motion planning method of hexagonal prism modular deployable antenna mechanism is proposed. Firstly, the structure and deployment principle of hexagonal prism modular deployable antenna are expounded, the numerical simulation model of antenna mechanism is established, and the single module prototype is developed, then the correctness of the principle scheme is verified. Secondly, based on the Lagrange method of multi-rigid-body system dynamics, the dynamic model of the antenna mechanism in the deployment process is established, and the variation law of the driving force of the slow-release motor with the deployment time is obtained. Finally, the movement planning of the antenna mechanism during the deployment process is carried out, and the S-shaped movement speed curve model of the antenna mechanism is established. The research results show that the motion planning reduces the sudden change of the speed during the antenna deployment process, improves the stability of the antenna deployment process, and provides a potentially feasible speed control scheme for the deployment test and engineering application of this configuration antenna. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
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页码：56 / 66
页数：10
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