Design and kinematics analysis of multi-body satellite allosteric joints
In order to solve the problems of low connection strength,complex allosteric process and external assistance between multi-body satellite modules,a non-biased three-degree of freedom allosteric joint was designed,which can realize reliable connection and stable and accurate relative motion between multi-body satellite modules.MDH method was used to establish the forward kinematics model and derive the forward kinematics equation.The comparison between the forward kinematics model and the offset allosteric joint in attitude maneuverability and workspace was made.It was proved that the forward kinematics model achieved the closed workspace without reducing the attitude flexibility.The motion simulation of the allosteric process was carried out in Adams.The displacement and velocity curves of the end module in the allosteric process were smooth without mutation,which verified the rationality of the structure design of the multi-body satellite and the correctness of the forward kinematics equation.The results were in line with the expected design objectives,and laid a foundation for the motion control and allosteric planning of the multi-body satellite in the future.
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