Abstract:A time-jerk optimal deployment trajectory planning method of a large cable-strut deployable parabolic cylindrical antenna is proposed. First, in order to decouple the complex multi-loop mechanisms, the multi-loop basic mechanism of the deployable support structure is split into three single-loop linkages, and the geometric constraint model is established based on the Denavit–Hartenberg method. Then, the kinematic model with jerk characteristics of the basic mechanism is obtained by differentiation. By consider… Show more
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