中文摘要：

基于主被动复合驱动的思想提出一种大伸展／收拢比、高载荷／自重比的新型伸缩式伸杆机构，以满足微纳探测器的实际应用需求，用于支撑各类探测载荷远离航天器本体，避免本体剩磁对空间待测信号的干扰，保证探测数据的准确性。首先，探索描述被动驱动源（弹簧铰链）的力矩驱动特性；然后，分析柔性伸杆的弯曲、扭转、压平和卷曲等力学性能。在此基础上，结合建立的柔性伸杆伸展速度、负载动能、弹簧铰链势能及主动驱动（电动机）力矩等参数的能量流约束方程，进行主、被动驱动和柔性伸杆的参数匹配研究；最后，利用有限元软件仿真和样机平台实验验证了参数匹配的合理性。仿真与实验结果表明，针对主被动复合驱动的空间探测柔性伸杆机构，通过合理的参数匹配，可实现柔性伸杆无褶皱地平稳伸展和收拢，为后续的机构设计和控制方案奠定了基础。

英文摘要：

A deployable manipulator based on an active-passive composite driver is proposed to achieve a large magnifica-tion and load-weight ratio in applications of small spacecraft in space probe. The deployable manipulator helps to hold vari- ous instruments away from the spacecraft to avoid disturbance caused by the remanence of the spacecraft body and ensure measurement accuracy. First, the torque feature of the passive driver （hinged spring） is studied. Second, the mechanical features of the flexible boom such as bending, torsion, flattening and wrapping are analyzed. Then, the energy restriction conditions are deduced of the deployable velocity with payload kinematics, potential energy of the joint and the actuating torque of the active driver （an electric motor） to match the parameters of the active-passive driver and the flexible boom. Finally, the finite element method and experiment are used to validate the theoretical analysis. For the deployable manipula- tor based on an active-passive composite driver, the results show that with appropriate matching of the parameters unrum-pied deployment and retractation of the flexible boom can be achieved, which prepares the way for mechanical design and control strategy in later work.