仿象鼻螺旋形折展机构设计与应用研究  

Design and Application of an Elephant Trunk-like Spiral Deployable Mechanism

作　　者：王汝贵[1] 金聪 杨泽慧 Wang Rugui;Jin Cong;Yang Zehui(School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机械传动》2023年第9期74-80,共7页Journal of Mechanical Transmission

摘　　要：基于象鼻卷起及伸展两种姿态,设计了一种多模块组成的螺旋形空间折展机构。分析模块间的几何关系,通过D-H法算得模块端点位置;探讨了螺旋形受模块夹角、长度、数量及缩放系数的影响;通过尺度优化,从整体上设计螺旋形状,以太阳翼的设计为算例,将最大展开长度作为目标函数,以螺旋形范围、间距和杆件尺寸为约束条件,计算得出尺度参数;给出了太阳翼、抓手等应用的三维模型,并针对每个应用简要说明了合适的驱动方式。该机构具有广泛的应用前景,可为螺旋形机构的设计提供些许参考与借鉴。Based on the two postures of trunk roll-up and extension,a spiral spatial folding mechanism composed of multiple modules is designed.The geometric relationship between the modules is analyzed,and the endpoint positions of the modules are calculated by the D-H method.The influence of the angle,length,number and scaling factor of the modules on the spiral shape is discussed.The spiral shape is designed as a whole by dimensional optimization,and the design of the solar wing is used as an example to calculate the dimensional parameters with the maximum unfolding length as the objective function and the spiral range,spacing and rod size as the constraints.The 3D models of the solar wing and gripper applications are given,and the appropriate driving method is briefly described for each application.This mechanism has a wide range of applications and can provide some reference for the design of the spiral mechanism.

关 键 词：象鼻 螺旋形 折展机构 尺度优化 

分 类 号：TH112[机械工程—机械设计及理论]