四面体可展单元机构组网分析  

Networking Analysis of a Tetrahedral Deployable Unit Mechanism

作　　者：杨斌 郭金伟[2] 张雷[1] 韩博[2] 陈亮亮[2] 许允斗[2,3] YANG Bin;GUO Jinwei;ZHANG Lei;HAN Bo;CHEN Liangliang;XU Yundou(China Academy of Space Technology(Xi’an),Xi’an 710100,China;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]中国空间技术研究院西安分院,西安710100 [2]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [3]燕山大学先进锻压成型技术与科学教育部重点实验室,秦皇岛066004

出　　处：《深空探测学报》2020年第2期206-212,共7页Journal Of Deep Space Exploration

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资助项目(E2017203335);河北省研究生创新资助项目(CXZZBS2019050)。

摘　　要：面向航空航天领域,将3RR-3RRR四面体基本可展单元机构作为曲面可展开天线的支撑机构,对四面体单元机构的组网方法进行研究。根据三角形等效逼近任意曲面的组网原理,提出连续式组网形式和间隔式组网形式,并进行对比分析。采用间隔式组网形式进行曲面可展机构的设计,分析间隔式最小组合单元组网机构的运动过程。建立了最小组合单元机构的ADAMS仿真模型,并进行仿真验证分析。仿真结果验证了基于四面体可展单元的间隔式组网方法的正确性,根据该组网方法可以拓展形成任意尺寸的大型曲面可展天线支撑机构。Facing the field of aerospace,taking the 3 RR-3 RRR tetrahedral deployable unit as the curved deployable antenna support mechanism,the networking method of tetrahedral unit mechanism is studied. Firstly,according to the networking principle of triangle approximating arbitrary curved surfaces,the continuous networking form and the spaced networking form are put forward and analyzed comparatively. Then,the design of curved deployable mechanism is carried out in the form of spaced networking form,and the movement process of the networking mechanism with the minimum combination unit is analyzed.Finally,the ADAMS simulation model of the minimum combination unit mechanism is established and verified. The simulation results show the correctness of the spaced networking method based on tetrahedral deployable unit. The networking method can be organized according to different sizes,forming arbitrary large curved deployable mechanisms.

关 键 词：四面体单元 可展机构 组网 运动分析 

分 类 号：V243.4[航空宇航科学与技术—飞行器设计] TH112[机械工程—机械设计及理论]