According to the invention, a microsatellite space coiling type extension arm technology and an active control technology are combined, so that high-precision control on the top platform and the bottom platform of the extension arm is realized. Wherein the coiled extension arm part comprises three continuous full-length longitudinal rods, a transverse frame, diagonal stiffening cables and the like. The active control part is composed of two frame type rotating platforms at the top and a three-axis fine adjustment platform at the bottom. Wherein the two steering engines are located at the top of the platform, and the frame type rotating platform is used for achieving rotation freedom degree control in the horizontal X direction and the horizontal Y direction. And the bottom controls the integral XYZ three-axis translation of the coiled extension arm by adopting the principle of an optical three-axis fine tuning platform. According to the invention, decoupling control can be carried out on six integral degrees of freedom of the space coiled type extension arm, active control on two rotational degrees of freedom at the top and three translational degrees of freedom at the bottom is realized, static relative errors between an upper platform and a lower platform caused by an unfolding process, an assembling process and environmental factors are reduced, and the precision of the coiled type extension arm after unfolding is improved. And the device can be used for carrying a high-precision optical detection instrument, and has practical engineering and application values.
本发明将微小卫星空间盘绕式伸展臂技术与主动控制技术进行结合,以实现对伸展臂顶部和底部平台的高精度控制。其中盘绕式伸展臂部分包括三根连续通长纵杆、横架和对角加劲索等部件。主动控制部分由顶部两个框架式旋转平台和底部一个三轴微调平台构成。其中两个舵机位于平台顶部,利用框架式旋转平台来实现水平XY两个方向的转动自由度控制。底部采用光学三轴微调平台的原理控制盘绕式伸展臂整体的XYZ三轴平动。本发明可以对空间盘绕式伸展臂六个整体自由度进行解耦控制,实现对顶部两个转动自由度,底部三个平动自由度的主动控制,减小由展开过程、装配过程和环境因素带来的上下平台之间的静态相对误差,提高盘绕式伸展臂展开后的精度。并且可以用于搭载高精度的光学探测仪器,具有实际的工程和应用价值。
Space coiling type extension arm with decoupling control of degree of freedom
一种自由度解耦控制的空间盘绕式伸展臂
2022-05-27
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
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