Abstract
In this paper, the precise deployment dynamical behavior is studied for a planetary rover mast mechanism of spacecraft undergoing large attitude adjustment motion. In the conventional dynamic formulation, flexible appendages of mast attached to spacecraft are taken as linear deformations with isotropic material, and it can result in improper responses. Therefore, the present model takes into account the coupling relations between geometric nonlinearity and laminated structure characteristics. Accordingly, by introducing the nonlinear constitutive relation of laminated materials based on the higher-order shear deformation theory, the nonlinear dynamic model of the planetary rover mast mechanism composed of laminated composite material is deduced based on the virtual work principle including geometric nonlinearity and material nonlinearity. By comparing the experiments results and those of present nonlinear model, the correctness and accuracy of present nonlinear model are verified. Furthermore, numerical examples are presented to investigate the nonlinear laminated material effect on deployment dynamical behavior of the planetary rover mast mechanism using different laying angles and curvature radii, and the results also testify the accuracy and efficiency of the formulation. The conclusions have important theoretical value and practical engineering significance for the dynamic characteristics and vibration control of attitude adjustment of planetary rover mast mechanism.
Similar content being viewed by others
References
Banks, M.: Jade Rabbit wakes up from lunar sleep. Phys. World 27(03), 10–10 (2014). https://doi.org/10.1088/2058-7058/27/03/18
Warden, R.M., Cross, M., Harvison, D.: Pancam mast assembly on mars rover. In: Proceedings of the 37th Aerospace Mechanisms Symposium. Johnson Space Center, May 2004, vol. 19–21, pp. 263–276 (2004)
Li, H.J., Gao, H.B., Deng, Z.Q.: Design and analysis of the lunar rover mast mechanism. Robot 30(1), 13–16 (2008). https://doi.org/10.13973/j.cnki.robot.2008.01.005
Zhang, S., Xu, Y.M., Liu, S.C., Jia, Y., Xue, B., Ma, Y.Q.: Rotation angle error calibration of chang’e-3 lunar rover mast system. Sci. Surv. Mapp. 3(1), 30–37 (2014). https://doi.org/10.16251/j.cnki.1009-2307.2014.09.029
Liu, T., Zhang, W., Wang, J.F.: Nonlinear dynamics of composite laminated circular cylindrical shell clamped along a generatrix and with membranes at both ends. Nonlinear Dyn. 90(2), 1393–1417 (2017). https://doi.org/10.1007/s11071-017-3734-4
Reddy, J.N.: A simple higher-order theory for laminated composite plates. ASME J. Appl. Mech. 51, 745–752 (1984). https://doi.org/10.1115/1.3167719
Hirwani, C.K., Panda, S.K., Mahapatra, T.R.: Delamination effect on flexural responses of layered curved shallow shell panel-experimental and numerical analysis. Int. J. Comput. Methods 15(04), 1850027 (2018). https://doi.org/10.1142/S0219876218500275
Hirwani, C.K., Panda, S.K., Mahapatra, T.R.: Nonlinear finite element analysis of transient behaviour of delaminated composite plate. J. Vib. Acoust. 140(2), 021001 (2018). https://doi.org/10.2514/1.J055624
Hirwani, C.K., Mahapatra, T.R., Panda, S.K., et al.: Nonlinear free vibration analysis of laminated carbon/epoxy curved panels. Def. Sci. J. 67(2), 207–218 (2017). https://doi.org/10.14429/dsj.67.10072
Sahoo, S.S., Panda, S.K., Singh, V.K., Mahapatra, T.R.: Numerical investigation on the nonlinear flexural behaviour of wrapped glass/epoxy laminated composite panel and experimental validation. Arch. Appl. Mech. 87(2), 315–333 (2017). https://doi.org/10.1007/s00419-016-1195-8
Chalhoub, N.G., Gordaninejad, F., Lin, Q., Ghazavi, A.: Dynamic modeling of a laminated composite-material flexible robot arm made of short beams. Math. Comput. Modell. Int. J. 14(5), 468–473 (1990). https://doi.org/10.1177/027836499101000511
Hong, H.Y., Kim, J.M., Chung, J.: Equilibrium and modal analyses of rotating multibeam structures employing multiple reference frames. J. Sound Vib. 302(4), 789–805 (2007). https://doi.org/10.1016/j.jsv.2006.12.015
Yoo, H.H., Ryan, R.R., Scott, R.A.: Dynamics of flexible beams undergoing overall motions. J. Sound Vib. 181(2), 261–278 (1995). https://doi.org/10.1006/jsvi.1995.0139
Neto, M.A., Ambrósio, J.A.C., Leal, R.P.: Flexible multi-body systems models using composite materials components. Multibody Syst. Dyn. 12(4), 385–405 (2004). https://doi.org/10.1007/s11044-004-0911-2
Neto, M.A., Ambrósio, J.A.C., Leal, R.P.: Composite materials in flexible multibody systems. Comput. Method Appl. Math. 195(50–51), 6860–6873 (2006). https://doi.org/10.1016/j.cma.2005.08.009
Neto, M.A., Leal, R.P., Yu, W.: A triangular finite element with drilling degrees of freedom for static and dynamic analysis of smart laminated structures. Comput. Struct. 108–109(4), 61–74 (2012). https://doi.org/10.1016/j.compstruc.2012.02.014
Darabi, M., Ganesan, R.: Non-linear vibration and dynamic instability of internally-thickness-tapered composite plates under parametric excitation. Compos. Struct. 176, 82–104 (2017). https://doi.org/10.1016/j.compstruct.2017.04.059
Liu, C., Tian, Q., Hu, H.Y.: Dynamics of a large scale rigid-flexible multibody system composed of composite laminated plates. Multibody Syst. Dyn. 26(3), 283–305 (2011). https://doi.org/10.1016/j.compstruct.2017.04.059
Liu, C., Tian, Q., Hu, H.Y.: New spatial curved beam and cylindrical shell elements of gradient-deficient absolute nodal coordinate formulation. Nonlinear Dyn. 70(3), 1903–1918 (2012). https://doi.org/10.1007/s11071-012-0582-0
Wu, G.Y., He, X.S., Deng, F.Y.: Dynamic analysis of a rotating composite plate. J. Vib. Shock 27(8), 149–154 (2008). https://doi.org/10.13465/j.cnki.jvs.2008.08.007
Wu, G.Y., He, X.S.: Dynamic modeling for a composite plate undergoing large overall motion. Chin. J. Comput. Mech. 27(4), 667–672 (2010)
Zhang, W.H., Liu, J.Y.: Dynamic modeling of composite thin-plate multi-body systems with large deformation. J. Vib. Shock 35(8), 27–35 (2016). https://doi.org/10.13465/j.cnki.jvs.2016.08.005
Kreja, I., Schmidt, R.: Large rotations in first-order shear deformation fe analysis of laminated shells. Int. J. Nonlinear Mech. 41(1), 101–123 (2006). https://doi.org/10.1016/j.ijnonlinmec.2005.06.009
Pan, K.Q., Liu, J.Y.: Rigid-flexible coupling dynamics of composite shell considering thermal shock. J. Vib. Shock 32(16), 1–6 (2013). https://doi.org/10.13465/j.cnki.jvs.2013.16.008
Kuang, J., Meehan, P.A., Leung, A.Y.T., Tan, S.: Nonlinear dynamics of a satellite with deployable solar panel arrays. Int. J. Nonlinear Mech. 39(7), 1161–1179 (2004). https://doi.org/10.1016/j.ijnonlinmec.2003.07.001
Hao, P.B., You, B.D., Sun, Y.M., Liang, D.: Nonlinear dynamic analysis of deployment of laminated planetary rover mast. In: IEEE International Conference on Cybernetics and Intelligent Systems, pp. 299–300 (2018). https://doi.org/10.1109/ICCIS.2017.8274791
Acknowledgements
The authors are particularly grateful for Professor Zhao Yang of Harbin Institute of Technology. This material is based on Project 51575126 supported by the National Natural Science Foundation of China and Projects 2013M541358 and 2015T80358 supported by the China Postdoctoral Science Foundation
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
You, B., Liang, D., Hao, P. et al. Deployment dynamical behavior of planetary rover mast mechanism considering geometric nonlinearity and laminated structure characteristics. Arch Appl Mech 90, 1605–1623 (2020). https://doi.org/10.1007/s00419-020-01686-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00419-020-01686-3