Influence of joint clearance on the dynamic characteristics of the lunar rover deployable panels

摘要

Accuracy, stability and reliability are required for modern mechanical system where joint clearance is one of the key factors that affect the characteristics. In terms of the characteristics of the panel's low speed and reciprocating oscillation, the joint model with clearance is established. Then, through embedding the joint model into the ideal mechanism, the dynamical model of deployable panels with clearance is established on the basis of the distinguish equation of motion state transformation. The mechanical motion attitude, the impact force at joint, the driving torques and so on are analyzed under the influence of radial clearance and friction coefficient by applying the commercial software MATLAB. In the light of the dimensionless influence indicators, a way to adjust the working conditions parameters is proposed, which provides theoretical basis for optimization design of mechanism with clearance.