考虑根铰间隙的空间框架展开机构动力学分析

利用Kane法多体动力学基本理论并考虑根铰间隙影响因素，建立适用于空间柔性太阳电池阵的多框架展开机构多体系统动力学模型，对框架展开机构的展开方式和展开过程进行仿真分析，获得了机构组成部件在展开过程中的几何位置、速度、加速度等动力学特性，分析了框架展开机构各个关节点运动特性、铰链间隙与外部驱动力的相互作用规律。结果表明：合理控制框架展开机构各运动部件的驱动力矩是保证框架按照确定规律展开的必要条件；根铰间隙对太阳电池阵框架展开机构角加速度影响较为明显，进而影响到展开框架展开过程的稳定性，对转角和角速度几乎没有影响；在进行空间太阳电池阵框架展开机构设计时应严格控制铰链轴间隙，并通过动力学仿真校核间隙对太阳电池阵展开过程的影响；研究结果为空间柔性太阳电池阵多模块框架展开机构设计提供指导。

Dynamic Analysis of Spatial Deployable Strut Mechanism with Clearance Root Joints

With Kane dynamics theory, the multi-body dynamic models of a deployable strut-mechanism are established with considering the clearance root-joint, and the deployable style and deployable process of the struts are studied. The dynamic performance of the struts’ deployment is analyzed such as the geometric position, velocity and acceleration, and the inherent regularity among the kinematic characteristics, clearance joint and external driving force of the deployable strut-mechanism is gained. The results show that the reasonable control of the driving torque of the root-joint is necessary condition for the strut-mechanism to be deployed according to the definite rule. The influence of the root-joint clearance on the angular acceleration of the strut-mechanism for the solar array is obvious, which affects the stability of the deploying process, and has almost no effect on the rotation angle and angular velocity of the strut-mechanism. The joint clearance should be strictly controlled in the design stage of the strut-mechanism, and its influence on the deploying process of the solar array should be checked by dynamic simulation. The research results provide guidance for the detailed design and driving torque design of the strut-mechanism for a spatial flexible solar array.