Research Papers

Self-Deployment of a Tape-Spring Hexapod: Experimental and Numerical Investigation

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

LaMCoS, CNRS UMR 5259, INSA-Lyon, Lyon F-69621, France

L. Blanchard

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

R. Dufour

LaMCoS, CNRS UMR 5259, INSA-Lyon, Lyon F-69621, Franceregis.dufour@insa-lyon.fr

J. Mech. Des 131(2), 021003 (Jan 06, 2009) (8 pages) doi:10.1115/1.3042148 History: Received December 10, 2007; Revised October 07, 2008; Published January 06, 2009

In the framework of developing a future space telescope, this paper focuses on a deployable hexapod equipped with tape-spring coiling devices. It describes the measurement of the platform deployment with a gravity compensation setup. The deployment modeling starts with the formulation of a phenomenological model for a single deployable coiling device. A force-elongation model is built experimentally by measuring the restoring force of such a hysteretic tape-spring actuator. Then, six actuator models are used in parallel to build a complete model of the deployable hexapod. Finally, measured and predicted platform responses are compared. A design of experiments approach highlights that disparities in the restoring force of tape-spring actuators are decisive for deployment success. A regression model is obtained to predict the hexapod’s twist behavior, which is the main indicator of deployment failure. This investigation underlines the requirement of actuator control during deployment.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 1

Deployment concept: stowed configuration, deployment, correction stage, and adaptive optics

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Figure 2

Description of the hexapod design: (a) tape-spring coiling device; (b) tape-spring hexapod prototype

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Figure 3

Gravity compensation setup

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Figure 4

Deployment sequence with compensated gravity: (a)–(e) represent positions at successive 144 ms intervals

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Figure 5

Time history of measured platform elevations

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Figure 6

Time history of measured lateral deviations of the platform

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Figure 7

(a) Experimental setup. (b) Hysteresis loops at 1 Hz.

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Figure 8

(a) Loops for different elongations at 0.2 Hz. (b) Transition zone versus deployed tape-spring length.

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Figure 9

Transition area of a flattened tape-spring

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Figure 10

Measured and simulated force-elongation loop of the actuator

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Figure 11

Influence of hub inertia

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Figure 12

Evolution of the coefficients of the straight asymptotic lines. (a) Initial force. (b) Asymptote slope.

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Figure 13

Effective stiffness versus longitudinal elongation for different forcing frequencies

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Figure 14

Sketch of the parallel hexapod

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Figure 15

Architecture of the hexapod model with SIMMECHANICS

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Figure 16

Platform elevation: prediction of the gravity influence on the deployment

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Figure 17

Platform elevation: comparison models/measurements




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