Multi-objective Optimization of Drive Configuration for Large-scale Space Planar Deployable Mechanisms

doi:10.3901/JME.2025.21.259

Abstract

Abstract: Large-scale space planar deployable mechanisms have the characteristics of multiple degrees of freedom and complex dynamic responses. The dynamic responses are highly coupled with the drive configuration, which makes it difficult to directly calculate the appropriate drive parameters in engineering. At present, the research on the optimization of the drive configuration of planar mechanisms considering nonlinear factors such as joint friction, contact, collision, and dynamic effect of locking component is not sufficient. This research proposes a multi-objective optimization method for the drive configuration of large-scale space planar mechanisms. First, the Newton-Euler method is used to establish the dynamic model of the mechanism by combining the screw theory and the Lie group framework description. The influence of nonlinear factors such as hinge friction, panel contact and collision, and locking component is considered. The possible panel collision during the deployment of the mechanism is described based on the impulse momentum equation. The accuracy of the established dynamic model is verified by comparing with the simulation results of multi-body dynamics software. Second, a multi-objective optimization model of drive configuration is constructed with the optimization objectives of minimizing the impact force, motion envelope and panel strain during mechanism deploying. The multi-objective genetic algorithm is used to coordinately optimize the drive torsion spring stiffness and preload angle. A set of Pareto optimal solutions are obtained. The optimization results are substituted into ADAMS for simulation. The comparison of the results shows that the optimized drive configuration reduces the panel contact during the deployment of the mechanism, while reducing the impact force and motion envelope. This research has certain theoretical significance and engineering application value for ensuring the reliable, precise and stable deployment of large-scale planar mechanisms on orbit.

Key words: space planar deployable mechanism, Newton-Euler formulation, dynamic response, multi-objective optimization

CLC Number:

TH113

MA Ying, LI Tuanjie, ZENG Zijie, ZHENG Shikun, ZHAO Jiang, WANG Yizhe. Multi-objective Optimization of Drive Configuration for Large-scale Space Planar Deployable Mechanisms[J]. Journal of Mechanical Engineering, 2025, 61(21): 259-273.

References

[1] 刘荣强，史创，郭宏伟，等. 空间可展开天线机构研究与展望[J]. 机械工程学报，2020，56(5)：1-12. LIU Rongqiang，SHI Chuang，GUO Hongwei，et al. Review of space deployable antenna mechanisms[J]. Journal of Mechanical Engineering，2020，56(5)：1-12.
[2] MA X，LI T，MA J，et al. Recent advances in space-deployable structures in China[J]. Engineering，2022，17：207-219.
[3] 田大可，高海明，金路，等. 模块化空间折展机构研究现状与展望[J]. 中国空间科学技术，2021，41(4)：16-31. TIAN Dake，GAO Minghai，JIN Lu，et al. Research status and prospect of modular space deployable and foldable mechanism[J]. Chinese Space Science and Technology，2021，41(4)：16-31.
[4] EVANS D L，ALPERS W，CAZENAVE A，et al. Seasat—a 25-year legacy of success[J]. Remote Sensing of Environment，2005，94(3)：384-404.
[5] GRALEWSKI M R，ADAMS L，HEDGEPETH J M. Deployable extendable support structure for the RADARSAT synthetic aperture radar antenna[C]//International Astronautical Congress. Washington D.C.，IAF，1992：18.
[6] THOMAS W D R. RADARSAT-2 extendible support structure[J]. Canadian Journal of Remote Sensing，2004，30(3)：282-286.
[7] CHIU S. Moving target parameter estimation for RADARSAT-2 moving object detection experiment (MODEX)[J]. International Journal of Remote Sensing，2010，31(15)：4007-4032.
[8] 史创，刘名利，郭宏伟，等. 大型二维多折展开平面天线机构设计及动力学特性分析[J]. 光学精密工程，2021，29(12)：2868-2876. SHI Chuang，LIU Mingli，GUO Hongwei，et al. Mechanism design and dynamic analysis of large-scale two-dimensional deployable planar antenna[J]. Optics and Precision Engineering，2021，29(12)：2868-2876.
[9] BO C，JIANG Z，XINLU W E I，et al. Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface[J]. Chinese Journal of Aeronautics，2023，36(11)：529-550.
[10] LIU X，ZHANG J，ZHANG S，et al. The design of a novel two-dimensional deployable mechanism for large-aperture planar antennas[C]//20232nd International Conference on Aerospace and Control Engineering. Nanjing：Journal of Physics：Conference Series，2024，2764(1)：012007.
[11] ZENG Z，LI T，DONG H，et al. Design method and driving optimization of origami-inspired single-layer truss structures for parabolic cylindrical mesh reflector antennas[J]. Frontiers of Mechanical Engineering，2025，20(2)：12.
[12] 田大可，杨希华，金路，等. 面向空间折展机构的刚性折纸研究现状与展望[J]. 南京航空航天大学学报，2023，55(3)：379-400. TIAN Dake，YANG Xihua，JIN Lu，et al. Research status and prospect of rigid origami for space deployable and foldable mechanism[J]. Journal of Nanjing University of Aeronautics and Astronautics，2023，55(3)：379-400.
[13] EACRET D，WHITE S. ST8 validation experiment：ultraflex-175 solar array technology advance：deployment kinematics and deployed dynamics ground testing and model validation[C]//48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. Orlando：AIAA，2010：1497.
[14] MURPHY D. Megaflex-the scaling potential of ultraflex technology[C]//53rd AIAA/ASME/ASCE/AHS/ASC Structures，Structural Dynamics and Materials Conference，20th AIAA/ASME/AHS Adaptive Structures Conference，14th AIAA. Honolulu：AIAA，2012：1581.
[15] NANDAKUMAR S，EGGL S，TREGLOAN-REED J，et al. The high optical brightness of the BlueWalker 3 satellite[J]. Nature，2023，623(7989)：938-941.
[16] NATORI M C，SAKAMOTO H，KATSUMATA N，et al. Conceptual model study using origami for membrane space structures-a perspective of origami-based engineering[J]. Mechanical Engineering Reviews，2015，2(1)：14-00368-14-00368.
[17] ZHAO C，LI M，ZHOU X，et al. Deployable structure based on double-layer Miura-ori pattern[J]. Mechanics Research Communications，2023，131：104152.
[18] ZIRBEL S A，LANG R J，THOMSON M W，et al. Accommodating thickness in origami-based deployable arrays[J]. Journal of Mechanical Design，2013，135(11)：111005.
[19] FULTON J A，SCHAUB H. Forward dynamics analysis of origami-folded deployable spacecraft structures[J]. Acta Astronautica，2021，186：549-561.
[20] 曹登庆，初世明，李郑发，等. 空间可展机构非光滑力学模型和动力学研究[J]. 力学学报，2013，45(1)：3-15. CAO Dengqing，CHU Shiming，LI Zhengfa，et al. Study on the non-smooth mechanical models and dynamics for space deployable mechanisms[J]. Chinese Journal of Theoretical and Applied Mechanics，2013，45(1)：3-15.
[21] 游斌弟，王兴贵，陈军. 卫星太阳阵展开锁紧过程冲击振动[J]. 机械工程学报，2012，48(21)：67-76. YOU Bindi，WANG Xinggui，CHEN Jun. Vibration and impact for deployable solar array of satellite with locking hinges[J]. Journal of Mechanical Engineering，2012，48(21)：67-76.
[22] 杨军刚，肖勇，赵治华，等. 大型环形桁架天线分布式驱动展开方法与数值分析[J]. 中国科学：物理学力学天文学，2017，47(10)：27-36. YANG Jungang，XIAO Yong，ZHAO Zhihua，et al. Distributed driving deployment method and numerical analysis of large hoop truss antenna[J]. Science Sinica (Physica，Mechanica & Astronomica)，2017，47(10)：27-36.
[23] LI J，LI Q，SUN T，et al. A general formulation for simulating the dynamic deployment of thick origami[J]. International Journal of Solids and Structures，2023，274：112279.
[24] WANG C，LI J，ZHANG D. Deployment of thick-panel kirigami with dynamic model[J]. International Journal of Mechanical Sciences，2023，248：108215.
[25] LI T. Deployment analysis and control of deployable space antenna[J]. Aerospace Science and Technology，2012，18(1)：42-47.
[26] 杨全欧，秦远田，陈金宝，等. 多自由度固面天线反射面展开动力学分析[J]. 振动.测试与诊断，2022，42(6)：1122-1127. YANG Quanou，QIN Yuantian，CHEN Jinbao，et al. Dynamic analysis of reflection surface deployment of multi-degree of freedom solid antenna[J]. Journal of Vibration，Measurement & Diagnosis，2022，42(6)：1122-1127.
[27] 赵宏跃，史创，郭宏伟，等. 空间大型可展开环形张拉机构动力学特性分析[J]. 机械工程学报，2024，60(12)：344-354. ZHAO Hongyue，SHI Chuang，GUO Hongwei，et al. Dynamic characteristics analysis of spatial large deployable annular tensegrity mechanism[J]. Journal of Mechanical Engineering，2024，60(12)：344-354.
[28] YANG L，WANG D. Multi-objective optimization of torsion springs for solar array deployment[J]. Journal of Shanghai Jiaotong University (Science)，2018，23：465-474.
[29] SUN P，LI Y，CHEN K，et al. Generalized kinematics analysis of hybrid mechanisms based on screw theory and lie groups lie algebras[J]. Chinese Journal of Mechanical Engineering，2021，34：1-14.
[30] HUO X，YANG S，LIAN B，et al. A survey of mathematical tools in topology and performance integrated modeling and design of robotic mechanism[J]. Chinese Journal of Mechanical Engineering，2020，33：1-15.
[31] 袁歆懿，陈菊，田强. SE(3)描述的多刚体系统约束违约问题研究[J]. 力学学报，2024，56(8)：2351-2363. YUAN Xinyi，CHEN Ju，TIAN Qiang. Research on constraints violation in dynamics of multibody systems based on SE(3)[J]. Chinese Journal of Theoretical Applied Mechanics，2024，56(8)：2351-2363.
[32] LYNCH K M，PARK F C. Modern robotics：Mechanics，planning，and control[M]. Cambridge University Press，2017.
[33] LI H Q，LIU X F，DUAN L C，et al. Deployment and control of spacecraft solar array considering joint stick-slip friction[J]. Aerospace Science and Technology，2015，42：342-352.
[34] FEATHERSTONE R. Rigid body dynamics algorithms[M]. Springer，2014.
[35] 董富祥，洪嘉振. 多体系统动力学碰撞问题研究综述[J]. 力学进展，2009，39(3)：352-359. DONG Fuxiang，HONG Jiazhen. Review of impact problem for dynamics of multibody system[J]. Advances in Mechanics，2009，39(3)：352-359.
[36] GLOCKER C，PFEIFFER F. Multiple impacts with friction in rigid multibody systems[J]. Nonlinear Dynamics，1995，7：471-497.
[37] ANITESCU M，POTRA F A. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems[J]. Nonlinear Dynamics，1997，14：231-247.
[38] DANIEL W K. Techniques for using ADAMS in spacecraft applications[C]//Adams：Mechanical Dynamics-Customer Service. Germany：16th European MDI User Conference. 2001：1-8.