Design And Research Of A Folding Adjusting Parallel Platform Based On The Space Environment

Satellite camera is in space micro-vibration environment, position and posturetransform, destabilization and flutter of satellite will lead to deterioration in image qualityof camera.Therefore, multidimensional attitude adjustment platform designed anddeveloped to compensate for pose change of satellite is inevitable trend of the evolution ofspace camera platform. Based on the above-mentioned study background, this paperpresented a folding platform for satellite pose regulation of the Satellite camera, and itsmechanisms,kinematics and dynamics of non-inertial coordinates, performance evaluationwere analyzed.Firstly, in the context of the current image quality problems facing the satellitecamera, the motion characteristics of the satellite in orbit and the motion compensationmethod of satellite camera platform were investigated, and then the design demands forsatellite camera attitude adjustment platform were proposed after the insight into therequirements of satellite camera attitude adjustment platform, which specified thedirection of subsequent studies.Secondly, this article designed and constructed a folding six-DOF adjustable postureparallel mechanism, calculated the degree of freedom and inverse position by using thescrew theory, judged the reasonableness of the input selection through the principle ofrationality judgement of parallel mechanism input, drew the3D workspace with searchingthe inverse solution and MATLAB software.Thirdly, position and orientation mapping relationship of non-inertial coordinates ofsatellite camera attitude adjustment platform was established. Based on the adjointrepresentation, the transformations of motion twist mapping between inertial coordinatesand non-inertial coordinates were deduced. Subsequently, the kinematics and dynamicsfunctional expressions of satellite camera attitude adjustment mechanism in non-inertialcoordinates were developed with influence coefficient method and Newton-Eulerlinear-bilinear formulation. Simultaneously, the dynamic simulation models of satellitecamera platform were built to verify the correctness of the theoretical modeling in different movement patterns of satellites camera in orbit through ADMAS software.Finally, based on the background of engineering applications of satellite cameraattitude adjustment platform, the folding properties, the stiffness performance and themotion performance of the folding parallel attitude adjustment mechanism were analyzedaccording to the robot’s performance evaluation index, and the corresponding performanceindices atlases were plotted, providing a theoretical basis for further optimization designof structural parameters.