过约束剪铰式双层周边桁架可展天线机构设计与分析  

Design and analysis of an overconstrained scissors double-hoop truss deployable antenna mechanism

作　　者：韩博[1] 许允斗[1,2] 姚建涛[1,2] 张硕[1] 郑东 赵永生[1,2] HAN Bo;XU Yundou;YAO Jiantao;ZHANG Shuo;ZHENG Dong;ZHAO Yongsheng(Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China;Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004

出　　处：《燕山大学学报》2019年第4期298-305,共8页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(51675458);河北省自然科学基金重点项目(E2017203335);河北省高等学校青年拔尖人才计划项目(BJ2017060)

摘　　要：基于过约束剪铰式机构单元,构造了一种过约束剪铰式双层周边桁架可展天线机构,分析了双层周边桁架机构的构型机理及过约束特征,对整体桁架机构进行了单元划分,将其分解为多个闭环可展开机构单元;考虑节点连接件的尺寸,推导出了过约束剪铰式双层周边桁架机构的组合条件,基于反螺旋理论分析了闭环可展开机构单元的自由度及运动形式,结果得到了其只有一个收展运动自由度,进而分析得到了整体双层周边桁架可展天线机构整体亦只有一个自由度,最后建立了过约束剪铰式双层周边桁架可展机构的仿真模型,模拟了整个机构的收拢与展开过程,验证了其整体的可展性。本文提出的过约束剪铰式双层周边桁架可展天线机构具有单自由度以及高刚度的特点,在深空探测领域具有较好的应用前景。An overconstrained scissors double-hoop truss deployable antenna mechanism is constructed based on the overconstrained scissors mechanism unit.Firstly,the configuration and overconstrained characteristics of the double-hoop truss mechanism are analyzed,and the whole truss mechanism is divided into multiple closed loop deployable mechanism units.Then the geometric conditions for the double-hoop form of the overconstrained scissors double-hoop truss mechanism is investigated by considering the effects of joint size.Furthermore,the degree of freedom(DOF)of the closed-loop deployable mechanism unit is analyzed based on the screw theory.The analysis results show that it only has one DOF,and further recursive analysis shows that the whole double-hoop truss antenna mechanism also has only one degree of freedom.Finally,a simulation model of the overconstrained scissors double-hoop truss deployable antenna mechanism is built and the deployable feature of the whole truss mechanism is verified through the deploying process.The overconstrained scissors double-hoop truss deployable antenna mechanism proposed in this paper has the characteristics of single DOF and high stiffness,it has a good application prospect in the field of space detection.

关 键 词：过约束机构 剪式铰机构 双层周边桁架 可展开天线 螺旋理论 自由度 

分 类 号：TH112[机械工程—机械设计及理论]