Dynamic Characteristics Analysis of Spatial Large Deployable Annular Tensegrity Mechanism
The annular tensegrity structure is one of the ideal structural forms to make the aperture of the antenna large.In order to study the dynamic characteristics of the annular tensegrity structure,the system composition of the annular tensegrity structure is firstly introduced.Then,a full kinematic model is established.The motion planning is performed based on the velocity of the hinge during deployment.Then,the dynamics model of the hoop mechanism is established based on the results of the kinematic model.The influences of pretension forces of the cables,friction damping of the joints and the locking moments of the joints are comprehensively considered based on Newton-Euler formula.The deviation value of the pretension variation and the maximum value of the pretension are taking as optimization objectives,scroll springs when employed are optimized.The spring stiffness,the pretension variation and the maximum value of the pretension have decreased by 24.5％,45.2％and 41.6％respectively.Finally,a prototype of scaling principle has been developed,and the dynamic test is carried out.The correctness of dynamic analysis method is verified by experimental results.
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