双环多杆天线展开机构运动学与动力学分析  

Kinematics and Dynamics Analysis of Double-ring Multi-rodAntenna Deployable Mechanism

作　　者：韩博 高超 韩媛媛[2] 许允斗[1] 姚建涛[1] 赵永生[1] HAN Bo;GAO Chao;HAN Yuanyuan;XU Yundou;YAO Jiantao;ZHAO Yongsheng(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;Department of Mathematics and Computer Science,Hengshui University,Hengshui 053000,China)

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]衡水学院数学与计算机科学系,衡水053000

出　　处：《农业机械学报》2023年第5期407-415,426,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52105035、52075467);河北省自然科学基金项目(E2021203109);机器人技术与系统国家重点实验室开放研究项目(SKLRS-2021-KF-15);河北省工业机械手控制与可靠性技术创新中心项目(JXKF2105)。

摘　　要：针对一种双环多杆天线展开机构进行了运动学与动力学特性分析,首先分析了展开机构构型特征,并对整体机构进行了单元分解,基于螺旋理论,绘制了单元机构的螺旋约束图;进而建立了单元机构的螺旋约束方程组,然后通过螺旋速度递推求得机构中构件的角速度和质心线速度,采用坐标转换求导法得到了速度雅可比矩阵,利用螺旋导数并基于螺旋加速度合成法则得到了构件的螺旋加速度和角加速度以及质心线加速度;最后基于拉格朗日方程,建立了整体机构的动力学方程,通过数值计算与模拟仿真,分析得到了不同构件的运动学与动力学特性,验证了理论推导的正确性。本文分析的双环多杆天线展开机构为单自由度机构,整体结构简单,仅需一个驱动便可收拢和展开,基于螺旋理论和拉格朗日法相结合的运动学和动力学建模分析方法物理意义明确,可以较好地应用于此类空间可展开机构的分析中。The kinematics and dynamics characteristics of a double-ring multi-rod antenna deployment mechanism were analyzed.Firstly,the configuration characteristics of the deployment mechanism were analyzed,and the unit decomposition of the whole mechanism was carried out.Based on the screw theory,the screw constraint diagram of the unit mechanism was drawn.Then the screw constraint equations of the unit mechanism were established,and the angular velocity and the linear velocity of the center of mass of the components in the mechanism were obtained by the screw velocity recursion.The velocity Jacobian matrix was obtained by the coordinate transformation derivative method.The screw acceleration and angular acceleration of the components and the linear acceleration of the center of mass were obtained by using the screw derivative and the screw acceleration synthesis rule.Finally,based on the Lagrange equation,the dynamic equation of the whole mechanism was established.Through numerical calculation and simulation,the kinematic and dynamic characteristics of different components were analyzed,and the correctness of the theoretical derivation was verified.The overall structure of the double-ring multi-rod antenna deployment mechanism analyzed was simple.It was a single-degree-offreedom mechanism that can be folded and unfolded with only one drive.The kinematics and dynamics modeling and analysis method based on the combination of screw theory and Lagrange method had clear physical meaning,it can be better applied to the analysis of such space deployable mechanisms.

关 键 词：双环多杆机构 可展开天线 螺旋理论 运动学 动力学 

分 类 号：TH112[机械工程—机械设计及理论]