Prototype Development Of Lunar Rover Developable Panel Mechanism With Joint Clearance

The reliability,stability,and accuracy of lunar probes' developable mechanism are required to be improved along with the development of Chinese “Chang'e Project” as well as the constant exploration for lunar environment.It is obvious that the study on developable mechanism makes great contribution to achieving the attitude control and orbit maneuver of spacecraft and guaranteeing the attitude pointing precision and control stability of spacecraft.Taking lunar rover repeatable developable solar panels as the study objectives,this thesis is going to develop a principle prototype rested on the functional requirement of repeatable developable solar panels.On the basis of the principle prototype,the dissertation will design one low-gravity simulation experiment platform in order to make the ground performance test experiment and analyze the accuracy of the terminal pose in the developable process of solar panels.At first,the paper will develop the principle prototype of lunar rover secondary repeatable developable solar panels with joint clearance.Beginning with the repeatable developable functional requirement of solar panels,the author is going to design the principle prototype's overall scheme of repeatable developable solar panels.According to the traditional synchronization developable scheme,the thesis will complete the design of prototype finally.Based on the principle prototype,the dissertation will design one lowgravity simulation experiment platform.Simultaneously,the design and debugging of the control system will be finished through controlling the circuit and hardware interface connection.Next,the dissertation will analyze the accuracy of the terminal pose in the developable process of solar panels.The application of numerical analysis method will be helpful to investigate the influence of hinge joint clearance's randomness on the random error of solar panels' terminal pose.Then the thesis will explore the change rule of different joint clearance on rigid panels and flexible panels so as to verify the former study through ADAMS.In the end,the thesis will make the ground performance test experiment for repeatable developable solar panels' principle prototype,which contains the reliability and stability of solar panels' repeatable developable,the accuracy of panels' repeatable developable and the dynamic characteristics of developable process.It aims at verifying the rationality of prototype and statistics and finding the disadvantages of the design to provide a basis for the improvement of developable panels with joint clearance.