SYMMETRICAL MOTION CONTROL FOR ADAPTIVE STRUCTURE-BASED CONSTRUCTION OF LARGE SPACE STRUCTURES

The configuration of adaptive structures and the deformation docking u sed for constructing large space structures is examined, The symmetric adaptive structure, which has symmetric distribution of mass and iner tia, is proposed for the deformation docking, In addition, a symmetric motion control is presented, The concept, formulation, and advantages of the symmetric motion control are described, It is shown that there is a reduction of computer requirements, as well as the possibility o f obtaining closed-form solutions of workspace, a distribution of sing ularity points, and a measure of the deformation docking possibility, Numerical and experimental simulations using a four-link structural mo del are conducted to validate the concepts presented.