模块化可展天线机构展开动力学建模与运动规划

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.