Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism  

作　　者：Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao 

机构地区：[1]Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao,066004,China [2]Key Laboratory of Advanced Forging&Stamping Technology and Science,Ministry of Education of China,Yanshan University,Qinhuangdao,066004,China

出　　处：《Defence Technology（防务技术）》2023年第6期399-413,共15页Defence Technology

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.52105035 and 52075467);the Natural Science Foundation of Hebei Province of China(Grant No.E2021203109);the State Key Laboratory of Robotics and Systems(HIT)(Grant No.SKLRS-2021-KF-15);the Industrial Robot Control and Reliability Technology Innovation Center of Hebei Province(Grant No.JXKF2105).

摘　　要：As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关 键 词：Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis 

分 类 号：V414[航空宇航科学与技术—航空宇航推进理论与工程] V443.4