ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

The kinematics and dynamics characteristics of a double-ring multi-rod antenna deployment mechanism were analyzed. Firstly, the configuration characteristics of the deployment mechanism were analyzed, and the unit decomposition of the whole mechanism was carried out. Based on the screw theory, the screw constraint diagram of the unit mechanism was drawn. Then the screw constraint equations of the unit mechanism were established, and the angular velocity and the linear velocity of the center of mass of the components in the mechanism were obtained by the screw velocity recursion. The velocity Jacobian matrix was obtained by the coordinate transformation derivative method. The screw acceleration and angular acceleration of the components and the linear acceleration of the center of mass were obtained by using the screw derivative and the screw acceleration synthesis rule. Finally, based on the Lagrange equation, the dynamic equation of the whole mechanism was established. Through numerical calculation and simulation, the kinematic and dynamic characteristics of different components were analyzed, and the correctness of the theoretical derivation was verified. The overall structure of the double-ring multi-rod antenna deployment mechanism analyzed was simple. It was a single-degree-of-freedom mechanism that can be folded and unfolded with only one drive. The kinematics and dynamics modeling and analysis method based on the combination of screw theory and Lagrange method had clear physical meaning, it can be better applied to the analysis of such space deployable mechanisms.