空间伸展臂折展单元运动学分析  

Kinematics Analysis on Deployable Unit of Space Deployable Mast

作　　者：陈佳伟 陈传志[1] 陈金宝[1] 郭芸芸 CHEN Jiawei;CHEN Chuanzhi;CHEN Jinbao;GUO Yunyun(Academy of Aeronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China)

机构地区：[1]南京航空航天大学航天学院,江苏南京210016

出　　处：《上海航天（中英文）》2020年第5期43-47,共5页Aerospace Shanghai（Chinese&English）

基　　金：国家自然科学基金(51675264,61773265);江苏省自然科学基金(BK20180437)。

摘　　要：运用螺旋理论对一种可折展三角桁架式空间伸展臂的折展单元进行运动学分析和仿真计算。利用D-H法建立折展单元运动的正逆位置解,应用螺旋理论对折展单元运动的正速度进行分析。通过对比软件Matlab的理论数值计算结果和软件ADAMS仿真计算结果,验证了该伸展臂折展单元的可行性和本文方法的正确性,为研究伸展臂折展单元的结构及工程应用打下基础。The kinematics analysis and simulation calculation of the deployable unit of a deployable triangular truss space deployable mast are carried out by using the helical theory.The Denavit-Hartenberg(D-H)method is used to obtain the solutions of the forward and inverse positions of the deployable unit motion,while the helical theory is used to analyze the positive velocity of the deployable unit motion.By comparing the theoretical and numerical results of the Matlab with the simulation results of the ADAMS,the feasibility of the deployable unit of the deployable mast and the correctness of the method described in this paper are verified,which provides a foundation for studying the structure and engineering application of the deployable units of deployable masts.

关 键 词：伸展臂 折展单元 运动学分析 

分 类 号：V443.4[航空宇航科学与技术—飞行器设计]