Chaos Phenomenon Identification And Dynamical Analysis Of Lunar Rover Deployable Flexible Mechanism With Joint Clearance

Precision,reliability,stability,service life of product becomes higher along with the development of science.Because of errors of design,manufacture,progress,the clearance at motion pair are inevitable,which can cause negative effects to mechanism system,especially to aerospace mechanism,the influence is difficult to remove because of the low gravity.Influence of clearance has been a critical research.In this paper,the panels with two-stage deployment are selected as the research object.The simulation of deploying progress and identification of chaos are done,considering clearance at joints and the flexibility of panels.These are good for expanding research of chaos and provide guidance for reducing negative effects of clearance.The main contents are as follows.Firstly,the dynamic model of flexible panel with joint clearance is built.Considering the effect of clearance,mathematical model of clearance is built to descript the clearance at joint,the contact model proposed by Lankarani and Nikravesh is used to descript the contact at joint clearance and finite element method is applied to establish dynamic model of flexible panel.Through the connection of the force on the panel,the clearance model is embed in dynamic model of flexible panel.Secondly,the deploying progress of flexible panel with joint clearance is simulated.Numerical analysis about torque,contact force and so on are done and the results are imported to ADAMS to analyze the impact at joint clearance and the dynamical performance during the panel's deploying.Finally,the identification of chaos is done caused by the clearance at joint.The effects of clearance radius,deployable velocity and gravity about chaos are analyzed through Poincare map that is obtained by numerical analysis.