一种双向平板折展单元机构及其运动过程分析  

A two-way flat plate folding unit mechanism and motion process analysis

作　　者：陈博 郭路瑶 梁宝柱 姜泽 李明 许允斗[1,2] 赵永生[1,2] CHEN Bo;GUO Luyao;LIANG Baozhu;JIANG Ze;LI Ming;XU Yundou;ZHAO Yongsheng(Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science,Ministry of Education,Yanshan University,Qinhuangdao 066004,China;Space Structure and Mechanism Technology Laboratory,China Aerospace Science and Technology Group Co.Ltd,Shanghai 201109,China;Aerospace System Engineering Shanghai,Shanghai 201109,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,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：《航空学报》2023年第2期302-314,共13页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(52075467)。

摘　　要：为满足更大物理口径的平面可展开天线,提出了一种新的可拓展的双向平板折展单元机构,并对其拓展方式、自由度和运动学特性进行了分析。首先,结合四棱锥和三棱锥机构,设计了一种新的双向平板折展单元机构构型,并简述其基本组成和拓展规律。其次,根据展开运动特性,将机构简化为平面机构,并计算了自由度,确定了驱动数目和位置。最后,采用闭环矢量法建立其运动学模型,分析了展开轨迹、奇异位置及杆件角度、角速度和角加速度等运动特性。将运动学模型的解析解与仿真结果进行对比,验证了运动学模型的正确性。To meet the planar deployable antenna with larger physical aperture,a new expandable two-way flat plate folding unit mechanism is proposed,and its expansion mode,degree of freedom and kinematic characteristics are analyzed.Firstly,a new configuration of two-way flat plate folding unit mechanism is proposed,and its basic composition and expansion law are briefly described.Secondly,according to the deployment motion characteristics,the mechanism is simplified to a plane mechanism,the degrees of freedom are calculated,and the number and position of drives are determined.Finally,the kinematics model is established by using the closed-loop vector method.The motion characteristics such as deployment trajectory,singular position,rod angle,angular velocity and angular acceleration are analyzed.The analytical solution of the kinematic model is compared with the simulation results to verify the correctness of the kinematic model.

关 键 词：平面天线 可展开机构 自由度分析 运动学分析 奇异分析 

分 类 号：V443[航空宇航科学与技术—飞行器设计]