"Design of Deployable System"

Manhal Mansour Awda1, Nihad Hashim Ilawi2, and Khaldoon Abdul Jabber2

1Aeronautics And Space Administration, Ministry of Science and Technology
2Mostansyrah University


This work deals with deployable mechanism of the earth stations used for receiving images form remote sensing satellites orbiting round the earth. The systems consist of four degrees of freedom links hinged together with revolute joints. The directional mechanism can reach any direction in the free space to assure pointing directly to the satellite from any location in Iraqi territories.

The work consists of design deployable manipulator according to standard ground station requirements then analyzing the mount kinematically to find the position, velocity, and acceleration. Also Denavit-Hartenberg transformation is applied to the system to study the position in any required frame.

The results show the position, orientation, linear velocity, angular velocity, linear acceleration, and angular acceleration of the end effectors frame in terms of angle of each link of the deployable manipulator. Different case study scenarios have been taken to in consideration.

Design of all parts has been accomplished according to the loads and the required rigidity of the mount computed at maximum wind speed 100 km/hr.

The design is based on an antenna of dish type with diameter 2.0 m at different elevation and azimuth angles depending on the satellite receiving pointing direction taking to in consideration that the design must offer easy motion, bear of loads, pointing accuracy, low cost, simplicity of production and assembly.

The deflection calculations show that the maximum deflection is observed at the polar tube and does not exceed 0.91mm, while at the bracket was less than 0.07mm.

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