摘要：Firstly, based on the structural characteristics of a new type of hoop truss deployable antenna, this paper derives the motion transformation relation between two hoop modules by using the method of coordinate transformation, and establishes the general model for deployment kinematic analysis, which can be applied to analyze the position, velocity and acceleration of any point on the structure. Secondly, according to the relation between the driving cable and the hoop module, the motion planning of the hoop module is transformed into the motion control of the driving cable, which can realize the deploying position control of the antenna. Finally, numerical simulations show the control method can make the antenna smoothly deploy following the specified deployable motion.
