Abstract: Based on the structural characteristics of the hoop truss deployable space antenna, body-fixed coordinates are attached at the hoop modules, and the motion transformation relation between two hoop modules is derived using the method of coordinate transformation. The general model for deployment kinematic analysis is established. The model can be applied to carry out the position, velocity and acceleration analysis of any point on the structure. In order to avoid too large an impact in the deployable process, the deployment velocity of the hoop module is planned. The motion relation between the driving cable and the hoop module is given. 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 calmly deploy following the specified deployable motion.

Key words: hoop truss, deployable antenna, deployable process, kinematic analysis, position control