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The purpose of this paper is to build a new deployable antenna with folded scissors ribs and to evaluate the reasonable characteristics of this new structure.

Based on the TerrStar-1 satellite, virtual design and shapes forming are considered in this paper with the structure design of the new antenna. Considering the relaxation units in net surface, form-finding evaluation is used to build mathematical model and operate the optimization algorithm so that the design of the new antenna with folded scissors ribs is achieved. Simulations are carried out to verify the antenna proposed.

It is found that the antenna with folded scissors ribs can be developed smoothly in the space.

The proposed the antenna with folded scissors ribs can be considered as a fall-back alternative for large antenna, with a diameter of over 10 m in the space, or is seen as another option for the system with a simple rigid structure.

Different from traditional antenna, it provides a valuable reference for the further research of large deployable antenna in space. The antenna in this paper is able to develop more than 30 m of diameter. Meanwhile, the surface density and the natural frequency and the root-mean-square error in surface are superior to those of the traditional antenna.

This paper aims to synthesize a modular deployable truss antenna with the lower degree of freedom (DOF) and larger folding ratio. Because of the advantages of this kind of new truss antenna, the modules that make up the antenna can be deployed together by the synchronous motor drivers instead of twist springs to realize the controllable deployment.

The closed-loop branch equivalence method is proposed to synthesize the single DOF module and the large deployable reflector. The complex mechanism can be equivalently replaced by a simpler mechanism based on screw theory. The motion pairs are synthesized and optimized to make the curved surface achieve to the maximum folding ratio when the modular parabolic truss antenna is folded.

The results show that the 3(3RR-3RRR)-3RRR-3RRR planar module is a single DOF mechanism. Additionally, the adjacent parts of every two modules are connected with universal joints to obtain the new truss antenna when the modules are networked.

The configuration of this new modular deployable truss antenna can be synthesized to design the structure, and the proposed method can be applied to other space multi-loop coupling mechanism and other spacecraft.

This paper presents an approach to synthesizing the motion pairs, as well as the DOF analysis. The results lay a foundation for the further analysis of the deployable control and dynamics of this kind of antenna. And the new modular truss antenna has a practical application in aerospace engineering.

In order to make the aperture of spatial deployable antenna larger, this paper proposed the study on a spatial annular tensegrity structure with 100 m large scale, which could be one of the ideal solutions to improve the dimension of the antenna. This study is aiming to figure out the dynamic characteristic of ultra-large annular tensegrity and address the problem of insufficient rigidity with local modes that many ring truss-type deployable antenna structures have faced.

This work is carried out based on the nonlinear dynamic modelling when fully considering the effect of bending and torsion deformation of beams, as well as the pretension of cables. Additionally, the structural stability analysis based on the proposed stability criterion is also presented to evaluate the tensegrity configuration with different distribution of cable groups.

This research results verify that the modified structure with radial ribs could eliminate the effect of the local vibration mode on stiffness and is suitable to meet the requirements of the annular tensegrity structure. Additionally, the calculation results demonstrate that the structural configuration of annular tensegrity with 36 groups of cables which share the nodes with radial ribs is more appropriate to enhance the stiffness and structural stability.

A new large annular tensegrity structure with radial ribs and tensioned cables is proposed. Based on the proposed structural configuration, the positive definiteness of the tangent stiffness matrix is carried out as the criterion of stability and the composition of the analytical expression of the tangent stiffness matrix is analyzed. Four levels of tensegrity structure stability have been carried out and the influence of the structural parameters on the stability and the rigidity has been analyzed. A scaled-down prototype is developed to verify the feasibility of the design of the hoop-column-rib configuration by the deployment and dynamic experiment.

The inchworm actuator is widely applied in space industry. One of the major issues in space instrumentation is the reliability, especially under space thermal load. The purpose of this paper is to present a numerical calculation method for the inchworm actuator reliability with considering the effect of space temperature.

First, the structure of designed inchworm actuator is introduced, and the main failure reason is analyzed. Then the wear model is proposed with considering the space temperature, and an experiment device is designed to verify the wear model. Finally, the reliability calculation method is developed based on the working principle of the inchworm actuator.

The numerical calculation method can be applied to calculate the reliability of the inchworm actuator with considering the space temperature. And the results provide a new perspective to discuss the influences of the temperature and driving voltage on the reliability of inchworm actuators.

This work presents a reliability calculation method of inchworm actuators with considering the space temperature.

This study aims to investigate the basic mechanical properties of inflatable antenna reflector material under high-low temperatures.

Uniaxial tensile tests of Kapton (polyimide) foils were conducted in this paper. Kapton foils with a thickness of 25 µm were used and the strip specimens were manufactured according to the machine direction and the transverse direction of the foils.

The stress–strain curves of the foils were obtained under ten temperature conditions (−70°C, −40°C, −10°C, 0°C, 20°C, 50°C, 80°C, 110°C, 140°C, 170°C) after uniaxial tensile tests. Generally speaking, such stress–strain curves are highly nonlinear, and Kapton can be classified into some kind of ductile material without obvious yielding point.

The tests results provide a basis for partial coefficients of Kapton foils strength design value, and meanwhile provide basic material data for the extreme temperature field test in orbit for the inflatable antenna structure in the future.

Based on the curve itself and strain energy theory, for the first time the equivalent yielding point was determined and the mechanism of constitutive curve changing with temperature was explained. Based on curves above, tensile strength, elongation at break, equivalent yielding stress, yielding strain and elastic modulus were analyzed and calculated. By analyzing the mechanical parameters above, the fitting formulas with temperature as the variable were given.

This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system.

The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the robot motion skill learning method. First, based on the real-time state of the robot and environmental constraints, the task space is divided into different regions and different control strategies are used in each region. Second, to ensure the effectiveness of the generalized skills (trajectories), the control barrier function is extended to DMP to enforce constraint conditions. Finally, a skill modeling and learning algorithm flow is proposed that takes into account environmental constraints within DMPs.

By designing numerical simulation and prototype demonstration experiments to study skill learning and generalization under constrained environments. The experimental results demonstrate that the proposed method is capable of generating motion skills that satisfy environmental constraints. It ensures that robots remain in a safe position throughout the execution of generation skills, thereby avoiding any adverse impact on the surrounding environment.

This paper explores further applications of generalized motion skill learning methods on robots, enhancing the efficiency of robot operations in constrained environments, particularly in non-point-constrained environments. The improved methods are applicable to different types of robots.

The paper aims to present a design and numerical verification procedure of a composite casing of a microstrip antenna for an aerospace satellite.

The casing for the microstrip antenna was designed in a form of a laminate shell with variable number of layers of reinforcing fabric. The material properties, both static and dynamic, were determined experimentally and then exported to an environment of numerical analyses. The numerical modal analysis allows optimizing the geometry and lay-up of the casing in such a way that a number of modal shapes occurring in the operational frequency band was significantly reduced, several modal shapes with high displacement in flanges of the casing were eliminated and the values of natural frequencies were increased. A final model of the composite casing was subjected to two types of analyses which simulate typical operation conditions during spacecraft mission. These analyses contained thermomechanical quasi-static analyses with 12 loadcases and thermomechanical shock analyses with 9 loadcases, which simulate various mechanical and temperature conditions.

Results of the performed analyses were compared with safety margins determined by following requirements to spacecraft vehicles. The obtained results confirm the design feasibility, which allow considering the proposed design during manufacturing of a prototype in further studies.

Moreover, the presented results can be considered as a design methodology guideline, which can be helpful for engineers working in the aerospace industry.

The originality of the paper lies in the proposed design and verification procedure of composite elements subjected to operational loading during a spacecraft mission.

This paper aims to present an innovative system able to establish an inter-satellite communication crosslink and to determine the mutual physical positioning for CubeSats belonging to a swarm.

Through a system involving a smart antenna array managed by a beamforming control strategy, every CubeSat of the swarm can measure the direction of arrival (DOA) and the distance (range) to estimate the physical position of the received signal. Moreover, during the transmission phase, the smart antenna shapes the beam to establish a reliable and directive communication link with the other spacecraft and/or with the ground station. Furthermore, the authors introduce a deployable structure fully developed at Politecnico di Torino that is able to increase the external surface of CubeSats: this surface allows to gain the interspace between elements of the smart antenna.

As a consequence, the communication crosslink, the directivity and the detection performance of the DOA system in terms of directivity and accuracy are improved.

Moreover, the deployable structure offers a greater usable surface, so a larger number of solar panels can be used. This guarantees up to 25 W of average power supply for the on-board systems and for transmission on a one-unit (1U) CubeSat (10 × 10 × 10 cm).

This paper describes the physical implementation of the antenna array system on a 1U CubeSat by using the deployable structure developed. Depending on actuators and ability that every CubeSat disposes, various interaction levels between elements can be achieved, thus making the CubeSat constellation an efficient and valid solution for space missions.

The purpose of this study is to establish an assembly accuracy analysis model of deployable arms based on Jacobian–Torsor theory to improve the assembly accuracy. Spacecraft deployable arm is one of the core components of spacecraft. Reducing the errors in assembly process is the main method to improve the assembly accuracy of spacecraft deployable arms.

First, the influence of composite connecting rod, root joint and arm joint on assembly accuracy in the tandem assembly process is analyzed to propose the assembly accuracy analysis model. Second, a non-tandem assembly process of “two joints fixed-composite rod installed-flange gasket compensated” is proposed and analyzed to improve the assembly accuracy of deployable arms. Finally, the feasibility of non-tandem assembly process strategy is verified by assembly experiment.

The experiential results show that the assembly errors are reduced compared with the tandem assembly process. The errors on axes x, y and z directions decreased from 14.1009 mm, 14.2424 mm and 0.8414 mm to 0.922 mm, 0.671 mm and 0.2393 mm, respectively. The errors round axes x and y directions also decreased from 0.0050° and 0.0053° to 0.00292° and 0.00251°, respectively.

This paper presents an assembly accuracy analysis model of deployable arms and applies the model to calculate assembly errors in tandem assembly process. In addition, a non-tandem assembly process is proposed based on the model. The experimental results show that the non-tandem assembly process can improve the assembly accuracy of deployable arms.

Large-scale mobile radars are still erected manually by using lifting equipment, which often fails to meet the requirements on precision, quality and efficiency in the erecting process. This paper aims to introduce techniques for automatic assembly of large mobile radar antenna.

A large-scale metrology system for accurate identification of the positions and orientation of the radar antenna components is presented. A novel three-degree-of-freedom parallel mechanism is designed to realize orientation adjustment of three axes synchronous, and, thus guarantees the efficiency and accuracy of positioning process.

The system described in this paper is practicable in outdoor environment and provides a holistic solution that gives full consideration of the operation conditions and the environmental influences. In performance evaluation tests, the measured absolute accuracy is less than ±1 mm and repeatability is less than ±0.5 mm in the positioning task for 10 × 3 m large antenna.

This paper presents a new concept of an automatic assembly technology for the large radar antenna application.