Automatic derivation of kinematic equations of deployable solar panel arrays

The article provides an original method for obtaining kinematic models of solar panel deployment mechanisms, which is based on the principle of formalised description of mechanisms kinematics. The method is aimed at automation of the derivation of solar panel deployment kinematic equations both in numerical and analytical forms. This method can be successfully applied to various types of deployable solar arrays mechanisms. The paper provides a brief description of the algorithm and computer programme for automatic derivation of kinematic equations of such mechanisms and an example of obtaining kinematic model of Glonass satellite deployable solar array.