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Dimensionality reduction method of kinematics and dynamics hybrid solutions for ten-bar underactuated mechanisms

An underactuated and rod mechanism technology, applied in the field of aerospace control, can solve the problems of Radarsat-2 battery panel deployment mechanism kinematics, drive failure, etc.

Inactive Publication Date: 2019-08-23
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0005] 3) drive failure; eg: surface ships, aircraft
Therefore, the current method cannot solve the problem of the kinematics of the Radarsat-2 battery panel deployment mechanism

Method used

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  • Dimensionality reduction method of kinematics and dynamics hybrid solutions for ten-bar underactuated mechanisms
  • Dimensionality reduction method of kinematics and dynamics hybrid solutions for ten-bar underactuated mechanisms
  • Dimensionality reduction method of kinematics and dynamics hybrid solutions for ten-bar underactuated mechanisms

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Embodiment Construction

[0083] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0084] According to the kinematics and dynamics hybrid solution dimensionality reduction method of the ten-bar underactuated mechanism provided by the present invention, solving such as figure 1 Kinetic parameters of the Radarsat-2 panel deployment mechanism shown.

[0085] For the underactuated model similar to the Radarsat-2 battery panel deployment mechanism, the present invention implements a dimension reduction method for a link mechanism with more than five bars to solve the mechanical kinematics...

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Abstract

The invention provides a kinematic and dynamic mixed dimensionality reduction solving method for a 10 bar underactuated mechanism. The method comprises the following steps: step 1, a 10 bar mechanism mathematical model is established according to a Radarsat 2 battery panel deployment mechanism, wherein Radarsat 2 is a high resolution commercial radar satellite carrying a C band sensor; step 2, corresponding geometric equation is created according to the 10 bar mechanism mathematical model; step 3, the geometric equation is solved, and a dynamic model is established through combination with the Euler Lagrange equation; step 4, dynamic parameters of a 10 bar mechanism are solved according to the dynamic model. With adoption of the method, the dynamic parameters of the 10 bar mechanism can be solved, sizes of rod members of the Radarsat 2 battery panel deployment mechanism are optimized, and the battery panel deployment process stability and reliability in actual application satellite deployment process are improved.

Description

technical field [0001] The invention relates to the technical field of aerospace control, in particular to a kinematics and dynamics mixed solution dimension reduction method of a ten-rod underactuated mechanism. Background technique [0002] The method in the present invention takes the Radarsat-2 solar panel unfolding mechanism as a prototype to study some fundamental issues of the mechanism, wherein the most critical dynamic basic configuration of the mechanism is the underactuated ten-bar mechanism. Among them, Radarsat-2 is a high-resolution commercial radar satellite equipped with a C-band sensor. It was launched on December 14, 2007 at the Baikonur base in Kazakhstan by the Canadian Space Agency and MDA. An underactuated mechanical system is a mechanical system in which the number of excitations is less than the number of system variables, that is, the number of control inputs is less than the number of degrees of freedom of the system. The underactuated characterist...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
CPCG06F30/367
Inventor 张勇郑立波马春翔苗军岳义
Owner SHANGHAI JIAO TONG UNIV
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