Kinematic Modeling and Analysis of Support Mechanism for Folding Rib Deployable Antenna

被引：0
|
作者：
Tian, Dake [1 ]
Fan, Xiaodong [1 ]
Jin, Lu [2 ]
Liu, Rongqiang [3 ]
Guo, Hongwei [3 ]
机构：
[1] Shenyang Jianzhu Univ, Sch Mech Engn, Shenyang 110168, Peoples R China
[2] Shenyang Jianzhu Univ, Sch Civil Engn, Shenyang 110168, Peoples R China
[3] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT III | 2021年 / 13015卷
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Deployable antenna; Folding rib; Modular structure; Kinematic modeling; Numerical simulation;
D O I：
10.1007/978-3-030-89134-3_54
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To meet the requirement of large aperture development trend of space deployable antenna, a space deployable antenna with high folding ratio and light weight is researched. A folding rib deployable antenna mechanism configuration is proposed and the structure analysis of deployable antenna mechanism is carried out based on modular design idea. Based on the basic theory of robotics, the forward kinematics model of the mechanism is established, and the inverse kinematics analysis is carried out from two aspects: identification of deployment state and research on driving law. The mechanism principle, forward kinematics model and inverse kinematics analysis are verified by numerical simulation software. The numerical simulation results show that the folded rib deployable antenna mechanism can realize the movement change from fully stowed to fully deployed without singularity. The movement law of key points at the end of mechanism is closely related to the development law of each corner in mechanism. The configuration scheme of folding rib deployable antenna mechanism proposed in this paper is reasonable and feasible. The established forward/reverse kinematic model can provide reference and help for kinematic characteristics analysis of mechanism and driving law research of mechanism.
引用
收藏
页码：592 / 601
页数：10
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