基于旋量理论平板折展机构构型综合与分析  

Type Synthesis and Analysis of Plate Deployable Mechanism

作　　者：郭路瑶 赵永生[1,2] 李明 韩博[1] 路斯成 崔琦峰 许允斗[1,2] GUO Luyao;ZHAO Yongsheng;LI Ming;HAN BoLU Sicheng;CUI Qifeng;XU Yundou(Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao 066004;Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University),Ministry of Education of China,Qinhuangdao 066004;Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd,Shanghai 201109;Institute of Aerospace System Engineering Shanghai,Shanghai 201109)

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,秦皇岛066004 [2]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 [3]中国航天科技集团有限公司空间结构与机构技术实验室,上海201109 [4]上海宇航系统工程研究所,上海201109

出　　处：《机械工程学报》2021年第9期28-38,共11页Journal of Mechanical Engineering

基　　金：中国航天科技集团有限公司空间结构与机构技术实验室和国家自然科学基金(52075467,51675458)资助项目。

摘　　要：为了解决平板折展机构单元构型种类少的问题,对平板折展机构进行了构型综合,并优选出了一种机构进行运动学分析。基于对平板折展机构收拢原理的分析,运用旋量理论提出了一种平板折展单元机构的构型综合方法,综合出多种平板折展机构构型。通过分析比较优选出一种运动副全部为转动副的平板折展机构,对其构型机理及几何特征进行了分析,并基于旋量约束拓扑图计算了机构自由度。然后对其进行了运动学分析,分析了各个构件的角速度,进而推导得到了各个构件的质心线速度与质心线加速度,并进行了数值计算与仿真验证,验证了理论分析结果的正确性。研究内容可以为此类机构的设计分析与工程应用提供参考。In order to solve the problem that there are few types of flat folding and unfolding mechanism units, a configuration synthesis of flat folding and unfolding mechanism is made, and a mechanism for kinematic analysis is selected. Based on the analysis of the folding principle of the flat folding and unfolding mechanism, a method of configuration synthesis of the flat folding and unfolding unit mechanism is proposed by using the theory of spinor, and a variety of flat folding and unfolding mechanism configurations are synthesized. Through the analysis and comparison, a kind of flat folding and unfolding mechanism with all moving pairs as rotating pairs is selected. Its configuration mechanism and geometric characteristics are analyzed, and the degree of freedom of the mechanism is calculated based on the rotation constraint topological diagram. Then, the kinematic analysis is carried out, the angular velocity of each component is analyzed, and then the centroid velocity and acceleration of each component are derived, and the numerical calculation and simulation are carried out to verify the correctness of the theoretical analysis results. The research content of this paper can provide reference for the design analysis and engineering application of this kind of mechanism.

关 键 词：平板折展机构 构型综合 旋量理论 运动学 

分 类 号：V443[航空宇航科学与技术—飞行器设计]