This paper comprehensively deals with the parametric effects of the joint clearance and friction coefficient on the dynamics of planar deployable structures consisting of scissor-like elements (SLEs). The dynamic model for scissor deployable structure is based on a comprehensive consideration of the symmetry and array characteristics of this mechanism and on a Lagrange method, which represents the motion equations. A modified nonlinear contact-force model is employed to evaluate the intrajoint contact force, and the incorporation of the friction effect between the inter-connecting bodies is included in this study. The total impact forces produced in the real mechanical joint are embedded into the dynamics and the differential equations of motion are solved numerically based on a set of initial conditions. The clearance size, angle velocity, and friction coefficient are analyzed and discussed separately. Using Poincaré map, the regular and irregular responses of the deployable mulitibody systems are observed. Next, a control scheme is evaluated to maintain a more stable behavior and continuous contact between the clearance joints. The controlled results are compared with those without control, concluding that some undesired effects caused by the clearance joints can be prevented or reduced, resulting in continuous contact at the clearance joint.

本文全面研究了接头间隙和摩擦系数对由剪刀状元件（SLE）组成的平面可展开结构动力学的参数影响。剪刀式可展开结构的动力学模型是基于对该机构的对称性和阵列特性的综合考虑，并基于表示运动方程的Lagrange方法。修改后的非线性接触力模型被用来评估关节内的接触力，并且在相互连接的物体之间的摩擦效应被纳入本研究。实际机械接头中产生的总冲击力被嵌入到动力学中，并且基于一组初始条件以数值方式求解了运动的微分方程。间隙尺寸，角速度，和摩擦系数分别进行分析和讨论。使用庞加莱图，可以观察到可展开的多体系统的规则和不规则响应。接下来，评估一种控制方案，以保持更稳定的性能以及间隙接头之间的连续接触。将控制结果与没有控制的结果进行比较，得出结论，可以防止或减少由间隙接头引起的一些不良影响，从而导致间隙接头处的连续接触。