Parameter matching for deployable manipulator with active-passive composite driver in space probe

A deployable manipulator based on an active-passive composite driver is proposed to achieve a large magnification and load-weight ratio in applications of small spacecraft in space probe. The deployable manipulator helps to hold various instruments away from the spacecraft to avoid disturbance caused by the remanence of the spacecraft body and ensure measurement accuracy. First, the torque feature of the passive driver (hinged spring) is studied. Second, the mechanical features of the flexible boom such as bending, torsion, flattening and wrapping are analyzed. Then, the energy restriction conditions are deduced of the deployable velocity with payload kinematics, potential energy of the joint and the actuating torque of the active driver (an electric motor) to match the parameters of the active-passive driver and the flexible boom. Finally, the finite element method and experiment are used to validate the theoretical analysis. For the deployable manipulator based on an active-passive composite driver, the results show that with appropriate matching of the parameters unrumpled deployment and retractation of the flexible boom can be achieved, which prepares the way for mechanical design and control strategy in later work.