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Research Papers

A Self-Deployment Hexapod Model for a Space Application

[+] Author and Article Information
G. Aridon, D. Rémond

Université de Lyon, CNRS, INSA-Lyon, LaMCoS UMR5259, F-06156, Villerubanne, France

A. Al Majid

 University of Aleppo, Aleppo, Syria

L. Blanchard

 Thales Alenia Space, F-06156 Cannes la Bocca, France

R. Dufour1

Université de Lyon, CNRS, INSA-Lyon, LaMCoS UMR5259, F-06156, Villerubanne, France

1

Corresponding author.

J. Comput. Nonlinear Dynam 4(1), 011002 (Nov 11, 2008) (7 pages) doi:10.1115/1.3007904 History: Received July 23, 2007; Revised June 08, 2008; Published November 11, 2008

This paper presents a simulation tool for predicting the self-deployment of an on-board deployable hexapod based on the release of strain energy stored in six tape-spring actuators. Their hysteretic behavior is described by six restoring force models, and a formulation of a direct dynamic model developed with a Lagrangian approach is performed. Furthermore, tensor representation is used to condense and simplify the calculation of Lagrangian partial derivatives. The results are compared with a numerical model that implements the recursive Newton–Euler technique. Finally, the impact of base excitations on the hexapod deployment performances is evaluated by using the proposed restoring force models.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

Main steps of the hexapod deployment

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Figure 2

Anchorage points of the legs on platform and base

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Figure 3

Six-tape-spring hexapod

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Figure 4

Tape-spring actuator

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Figure 5

Force-elongation loop of the actuator at 1Hz

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Figure 6

Definition of the frames

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Figure 7

Platform elevation

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Figure 8

Platform elevation under harmonic excitation (A=2.1mm and Ω∊[40–130Hz])

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Figure 9

Platform elevation under harmonic excitation (Ω=110Hz and A∊[0.6–3mm])

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Figure 10

Restoring force during the elevation (Ω=110Hz and A=3mm)

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Figure 11

Restoring force during the elevation (Ω=70Hz and A=2.1mm)

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Figure 12

Full deployment time of the hexapod T∕T0 under harmonic excitation

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