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A Self-Deployment Hexapod Model for a Space Application

[+] Author Affiliations
G. Aridon, D. Rémond, R. Dufour

LaMCoS INSA-Lyon, Villeurbanne, France

A. Al Majid

University of Aleppo, Aleppo, Syria

L. Blanchard

Thalès Alenia Space, Cannes, France

Paper No. DETC2007-35299, pp. 651-658; 8 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


This paper presents an efficient simulation tool for predicting a self deployment of an on-board deployable hexapod based on the release of stored strain energies provided by six tape-spring actuators. Six restoring force models describe their hysteretic behavior. A formulation of a direct dynamic model developed with a Lagrangian approach is achieved. Furthermore, tensor representation is used to condense and simplify the calculation of Lagrangian partial derivatives. Results are compared with a numerical model that performs the recursive Newton-Euler technique. Finally, the impact of the excitation of the base on the deployment performances is evaluated taking advantage of the proposed restoring force models.

Copyright © 2007 by ASME



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