Reseach On Dynamic Characterisitcs Of Lunar Rover Developable Panel Mechanism With Joint Clearance

With the rapid development of deep space exploration and the use of its resources, the requirement of motion accuracy, stability and reliability for aerospace mechanism system is boosting. But the effects of joints with clearance are inevitable on the dynamical characteristics of mechanisms in practical engineering application, which has become one of the key problems that are urgent to be solved.This paper aims at choosing reasonable working parameters to reduce the adverse effects of clearance and providing theoretical guidance for the study of panel joint’s structure optimization design, processing and its test control through studying the extent of effects on the dynamical characteristics of lunar rover panel with clearance during its deployment in different conditions, which represents some value in theoretical research and practical engineering.The contents are as followings:First, the dynamical model of deployable panel with clearance is established. Considering the low-speed and shuttling of panel, clearance model is established to present the actual impact process. Then force and attitude motion analysis are made, considering the effects of clearance. Finally, through embedding the clearance model into the ideal mechanism model on the basis of the formation used to estimate state of joints, the dynamical model of deployable panel with clearance is established, which lays the foundation of the analysis for the dynamical characteristics of mechanism with clearance.Second, the effects of panel with clearance are analyzed during its deployment. On the basis of numerical simulation results by MATLAB, qualitative analysis of the effects of clearance radius, clearance position, gravity, driving speed, friction coefficient and so on was performed on the mechanism movement state, impact force, driving torque and so forth. Quantitative analysis was also carried out on the basis of the influence index with no dimension. On this basis, working parameters’ range and their adjusting way and a guidance of optimizing the joint structure were present Third, simulation model was established by ADAMS to analyze its dynamical characteristics comparatively and prove the dynamical model and the reliability of numerical simulation by MATLAB.Finally, a preliminary identification of the chaos phenomenon of deployable panel with clearance was conducted. Combining with numerical simulation results, Poincare maps were drawn to estimate preliminarily the state of chaos motion and analyze the effects of the different clearance factors on mechanism chaos motion.