## 7 Conclusions  
This study proposed a new kind of RRSA by deviating the radial segmentation line by an angle, which utilized most of the advantages of the regular-panel antenna described in Section 2.4. By adopting this new panel, the compact folded pose was derived to achieve high RSE. The deployment scheme is based on [PERSON]'s rotation theorem, and adopts rigid-body registration algorithms to obtain the transformation matrix. Inspired by the idea of parameter identification in robotics, the PECM was established in order to satisfy the prescribed geometric constraints, to which the CPI algorithm was developed for the antenna configuration with high RSE. Extensive simulations have verified the effectiveness of the algorithm.  
Then, the RSEs obtained by the CPI algorithm were compared with those of the existing RRSAs. The results suggest that the RSE has improved markedly, and that adopting the deviation-angle panel is more efficient than conducting pose adjustment in terms of achieving higher RSE. Alternatively, the RSE can be further improved by adopting a combination of these two approaches.  
Furthermore, based on the obtained configuration and rotation axis, the process of mechanism/structure design was performed. The entire deployment system mainly  
Figure 17: Input torque. Torques of the UJC’s input rod obtained by theoretical estimation and _ADAMS_, respectively.  
Figure 18: Driving torque. When simulating using _ADAMS_, the component MOI of the reducer is considered.  
consists of five parts, i.e., a composite panel, supporting framework, UJC deployment mechanism, axis-adjusting device and base. The CAD model of the antenna was established by _SolidWorks_, and the kinematic simulation revealed that the antenna deployment is stable and interference-free in a geometric and kinematic sense.  
Eventually, we performed deployment dynamics based on trajectory planning to further confirm that the antenna can be successfully deployed and to explore the dynamic characteristics of the antenna. Our designed mechanical system is equivalent to a UJC attached with a small ball on the output rod and a torsional spring and a driving motor on the input rod. The system was then simplified into a mass-spring-damper system using a linearization technique, after which the oscillation-free mechanical parameters were immediately identified for the spring-driven stage and a cubic trajectory was planned for the motor-driven stage. The theoretically estimated result and the _ADAMS_-simulated one are in good consistency with each other, suggesting that the antenna can be deployed successfully and stably in a dynamical sense.  
To conclude, the proposed RRSA in this study is capable of supplying higher radial stowing efficiency. Kinematic simulation combined with analytical and simulated dynamics demonstrates that the deployment process is stable and interference-free. The above facts suggest that our proposed RRSA provides meaningful references in the field of rigid-reflector spaceborne antennas with excellent dynamical quality and higher radial stowing efficiency.  
Conceptualization, G.T.; methodology, G.T.; software, G.T., K.L., D.N.; validation, G.T., Q.W., D.Z. and D.Y.; formal analysis, G.T.; investigation, Q.W.; resources, X.D. and D.Y.; data curation, G.T.; writing--original draft preparation, G.T.; writing--review and editing, G.T., D.Z. and D.Y.; visualization, K.L. and D.N.; supervision, X.D., D.Z. and D.Y.; project administration, X.D.; funding acquisition, X.D. and D.Z. All authors have read and agreed to the published version of the manuscript.  
This research was funded by National Key Research and Development Program of China grant number 2021 YFB3900304 and National Natural Science Foundation of China grant number 52175246.  
Not applicable.  
Data availability Statement: Data are contained within the article.  
The author would like to appreciate the editor-in-chief, associate editors and reviewers for their valuable comments and suggestions.  
The authors declare no conflicts of interest.