Adjustment method of end pose error of space-borne antenna space extension arm

A technology of spaceborne antenna and adjustment method, which is applied in the direction of rotating antenna, folding antenna, etc., can solve the problems of time-consuming adjustment, the method of adjusting the position and posture error of the space extension arm end of the spaceborne antenna, etc., and achieve the effect of shortening the working hours of adjustment

Inactive Publication Date: 2019-11-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a method for adjusting the position and posture error of the end of the space extension arm of the space-borne antenna to solve the problem of time-consuming adjustment of the end pose error of the space extension arm of the existing spaceborne antenna

Method used

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  • Adjustment method of end pose error of space-borne antenna space extension arm
  • Adjustment method of end pose error of space-borne antenna space extension arm
  • Adjustment method of end pose error of space-borne antenna space extension arm

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Experimental program
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specific Embodiment approach 1

[0015] Specific implementation mode one: combine figure 1 To illustrate this embodiment, the method for adjusting the pose error at the end of the space-borne antenna space extension arm given in this embodiment specifically includes the following steps:

[0016] Step 1. Find the error link at m of the extension arm and perform equivalent analysis. The equivalent analysis means that the error link at m is equivalent to a translational joint or a rotational joint for micro-motion according to the tolerance zone type; The order of the end is to number the error links at m of the extension arm, and establish the fixed coordinate system of the error links at m respectively, and obtain the DH parameters of each error link. of k;

[0017] Step 2: According to the k non-zero DH parameter values ​​of the error link at m position of the extended arm, solve and establish the Jacobian matrix in a constructive manner, and the Jacobian matrix is ​​a mapping from the joint space velocity t...

specific Embodiment approach 2

[0021] Specific implementation mode two: as figure 2 As shown, the difference between this implementation mode and specific implementation mode 1 is that the specific process of step 1 includes:

[0022] Find the error link at m of the extension arm for equivalent analysis. According to the type of tolerance zone, the error link at m is equivalent to a translational joint or a rotational joint that performs a small movement; Links are numbered, and the fixed coordinate system of the error link at m is respectively established, and the coordinate system corresponding to the i-th error link is {i}; and the DH parameter {d of the i-th error link is used i ,θ i ,a i ,α i} to represent the relative position and orientation between two adjacent coordinate systems {i-1} and {i}, i=1,...,m, when i=1, the coordinate system {i-1} is the base Coordinate system {o}; where:

[0023] d i is the joint offset of the coordinate system {i}, which means from X i-1 Axis to X i Axis dista...

specific Embodiment approach 3

[0028] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is that the specific process of step two includes:

[0029] Let the adjustable parameter be q j , j∈[1,k];

[0030] If q j The corresponding error link is equivalent to the joint j that performs a small movement as a moving joint, then:

[0031]

[0032] If q j The corresponding error link is equivalent to the joint j that performs small movements as a rotating joint, then:

[0033]

[0034] Among them, v represents the linear velocity at the end of the stretch arm, ω represents the angular velocity at the end of the stretch arm, represents the joint velocity, Indicates the description of the position vector of the origin of the end coordinate system relative to the coordinate system {j} in the base coordinate system {o}, that is is the transformation matrix from the coordinate system {j} to the base coordinate system {o}, p n i...

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Abstract

The invention provides a method for adjusting an end pose error of a spaceborne antenna space extension arm, belongs to the field of spaceborne antennas, and particularly relates to an adjustment method of the spaceborne antenna space extension arm. The method comprises a step of carrying out equivalent analysis on m error links of the extension arm, a step of establishing a fixed connection coordinate system of the m error links and obtaining a DH parameter of each error link, wherein k DH parameters are not zero, a step of solving and establishing a Jacobian matrix with a construction mode according to k non-zero DH parameter values, a step of carrying out sensitivity analysis and obtaining the magnitude of the influence of the DH parameter of each error link on an end pose through the sensitivity analysis, and a step of adjusting the end pose according to the influence degree of the DH parameter of each error link on the end pose. According to the method, the problem of the large time consumption of the existing adjustment of the end pose error of the spaceborne antenna space extension arm is solved. The method can be used for the error adjustment of the spaceborne antenna spaceextension arm.

Description

technical field [0001] The invention belongs to the field of spaceborne antennas, and in particular relates to a method for adjusting space extension arms of spaceborne antennas. Background technique [0002] In order to prevent the satellite antenna from being affected by the electromagnetic components inside the satellite, and considering the payload layout on the satellite, the antenna is usually kept at a certain distance from the satellite body during operation, so the deployable antenna has become a common form of satellite antenna. Deployable spaceborne antenna realizes positioning through deployment mechanism and dual-axis driving mechanism (Pan Bo, Zhang Donghua, Shi Wenhua, Lin Tian. Modeling and analysis of pointing accuracy of spaceborne antenna[J]. Spacecraft Engineering, 2011, 20(05): 49-54.), the deployment mechanism is mostly a 3-DOF extension arm. After the satellite enters orbit, the extension arm is deployed to a predetermined position and locked, and the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H01Q1/08
CPCH01Q1/08H01Q1/084
Inventor 刘天喜杨智颖梁磊
Owner HARBIN INST OF TECH
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