Research on Deployment Process Dynamics and Vibration for Replaceable Interface Mast

Abstract

The mast of the rover is a device used to carry precision instruments such as cameras on the rover, and its performance directly affects the working quality of these devices. The replaceable interface mast can effectively solve the problems of a single structure and poor maintenance of ordinary masts, so we study the deployment process dynamics properties and vibration for replaceable interface mast. Firstly, we analyzed the spatial motion of the reconfigurable rigid body module by the absolute node coordinate method and the natural coordinate method, and established the dynamic equation of the interface, the reconfigurable module without external constraints. Then, we established a dynamic model of the mast system deployment process. We analyzed the dynamic behavior of the replaceable interface mast and studied and compared the differences in the deployment behavior of the replaceable interface mast under different system configurations, flexible interface geometric parameters, and different driving rules. Finally, we built a model of the mast system and experimentally analyzed the deployment process of the replaceable interface mast. Using numerical solution and experimental verification, we proved that the established dynamic model of the mast system can correctly analyze the deployment behavior dynamics of the replaceable interface mast, and the study can provide a reference for the design and behavior analysis of the mast system.