空间双层过约束可展机构的设计与分析  

Design and Analysis of Space Double-layer Over-constrained Deployable Mechanism

作　　者：牟德君[1] 王雅静 陆鹏程 王童辉 MU Dejun;WANG Yajing;LU Pengcheng;WANG Tonghui(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学机械工程学院,秦皇岛066004

出　　处：《机械工程学报》2024年第1期274-283,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52275033)。

摘　　要：折展机构以其优越的折展性能,广泛应用于航空航天以及建筑等领域。以基于等边Bennett机构拓展得到的6R机构与三重对称Bricard机构巧妙结合,得到了一种可折展的环状机构,建立了多种过约束机构的几何模型并改进了环状机构的理论模型。利用D-H参数法对改进组合机构进行了运动学分析,得到其运动特性。以可折展环状机构为基本组网单元搭建了大尺度单层空间折展机构;以拓展6R机构衍生的7R机构结合Sarrus机构设计了可折展的连接单元,与单层折展机构复合构建空间双层可展机构,并提出了空间多层折展机构的可能性。The folding mechanism is widely used in aerospace,architecture and other fields because of its excellent folding performance.The 6R mechanism based on equilateral Bennett mechanism and the triple symmetric Bricard mechanism are combined to obtain a flexible ring mechanism,and a variety of geometric models of overconstrained mechanisms are established and the theoretical model of the ring mechanism is improved.The kinematic analysis of the improved combined mechanism is carried out by using D-H parameter method,and its motion characteristics are obtained.The large scale single-layer space folding mechanism is built with the folding ring mechanism as the basic networking unit.By expanding the 7R mechanism derived from 6R mechanism and combining with Sarrus mechanism,a flexible connection unit is designed,and a double-layer spatial flexible mechanism is constructed by combining with a single-layer spatial flexible mechanism.

关 键 词：空间折展机构 过约束机构 拓展6R机构 组网 

分 类 号：TH112[机械工程—机械设计及理论]