一类基于四面体组合单元的模块化构架式可展开天线机构

针对现有基于四面体单元的构架式天线机构结构复杂、收拢率低、运动副数量多等问题，基于3RR-3RRR四面体组合单元和基于3RR-3URU四面体对称组合单元分别提出了两种新型模块化可展结构。以3个组合单元组成的模块化结构为分析对象，首先，详细介绍了模块化结构的组成及虎克铰轴线布置，并利用组合单元本身的自由度数目及性质，采用拆杆-等效-复原的思想，应用螺旋理论和G-K公式分别对提出的两种模块化结构进行了自由度分析，得到了自由度数目及性质。其次，应用Adams动力学仿真软件对两种模块化结构进行运动仿真，仿真结果验证了自由度分析的正确性。以完全展开和完全收拢时机构所占的空间体积比值表征该机构的收拢率，计算现有基于四面体单元的非模块化机构与提出的模块化机构的收拢率。最后，对比分析非模块化机构与模块化机构的自由度数目、运动副数目及收拢率。分析结果表明，基于3RR-3URU四面体对称组合单元的模块化结构既能实现较大收拢率，自由度及运动副数目也相对减少，且组成大型天线时杆件类型较少。研究结果为该类模块化构架式可展天线结构的设计与分析提供一定理论依据。     

一种双向平板折展单元机构及其运动过程分析

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。     

四棱锥单元平板式可展开收拢机构的运动特性分析

基于7杆闭环机构提出一种新型四棱锥单元,其可作为一种基本可展机构单元,组合成大型可展机构.利用机构学方法研究,分析了单元机构的自由度、运动学和奇异性,给出了单元组合方法并基于四棱锥单元机构设计了一平板式可展开收拢机构,最后计算了机构的伸缩比.分析结果表明,这种单元机构组合方便简单,组合后的机构自由度为1,便于机构的展开收拢控制.当机构完全展开时,由于其奇异特性,机构有较好的力学性能.利用这种单元可以设计出新型大型可展开收拢机构,在航空航天领域有很好的应用前景.     

一类空间对称6R机构的运动学研究及组合应用

可展开平板机构已广泛应用于平板天线、太阳翼等航天机构产品。为提高可展开平板机构的刚度和展收比,将空间对称6R机构应用于可展开平板机构设计。首先,根据约束条件,计算后给出了一种空间3R运动链的几何参数关系;然后,结合螺旋理论,分析了该3R运动链的约束螺旋系;进而根据对称性,研究了空间对称6R机构的自由度、奇异性等运动特征;在此基础上,提出了一种特殊的空间对称6R转动机构;最后,研究了空间对称6R机构的组合方法,设计出一种新型单自由度可展开平板组合机构,并对其进行了运动学仿真验证。该可展机构具有二维方向的展开收拢能力,为可展开平板机构的创新设计提供了有益参考。     

四棱锥单元平板式可展开收拢机构的

 基于7杆闭环机构提出一种新型四棱锥单元,其可作为一种基本可展机构单元,组合成大型可展机构。利用机构学方法研究,分析了单元机构的自由度、运动学和奇异性,给出了单元组合方法并基于四棱锥单元机构设计了一平板式可展开收拢机构,最后计算了机构的伸缩比。分析结果表明,这种单元机构组合方便简单,组合后的机构自由度为1,便于机构的展开收拢控制。当机构完全展开时,由于其奇异特性,机构有较好的力学性能。利用这种单元可以设计出新型大型可展开收拢机构,在航空航天领域有很好的应用前景。     

冗余驱动消除并联机构奇异研究

对空间并联机构的奇异性和冗余驱动消除机构奇异进行了研究。以Park关于奇异的分类为基础,明确指出了冗余驱动能够消除机构驱动奇异的原因,给出了冗余驱动个数与奇异空间降维关系的比较严格的数学推导过程。还对一种3自由度冗余并联机构的奇异性进行了分析,指出了其奇异空间的形状,并对冗余驱动消除奇异的效果进行了研究。其结果证实了冗余驱动与奇异降维之间的关系,对于进一步提高并联机构的性能提供了参考。     

完全解耦3T2R并联机器人构型综合方法

针对并联机构内部耦合性带来运动学和动力学分析困难的问题,基于G_F集理论提出一种简单而有效的三移动两转动(3T2R)完全解耦构型综合方法。首先,阐述G_F集并联机器人构型理论;其次,根据G_F集的求和运算和转动轴线迁移定理,给出了机构输入运动副选择原则以及解耦支链设计准则;按照完全解耦并联机构设计步骤,列举出了3T2R并联机构各解耦分支运动链,综合出了含有单、双驱动支链的3T2R五自由度完全解耦并联机构,得到了大量新构型;通过所综合出的一种新型并联机构,运用约束螺旋法对机构的自由度数目和运动特性进行分析,根据机构输入与输出参数间关系式,求解得到机构雅可比矩阵,验证了机构的解耦特性,进一步证明了该构型方法的有效性。研究对解耦并联机构的构型设计具有理论指导意义。     

构架式可展天线机构自由度分析——拆杆等效法

针对四面体构架式可展天线机构的多环耦合特性,提出了一种空间多环耦合机构的自由度分析方法——拆杆等效法。首先拆除四面体基本可展单元机构的耦合约束链,将剩余部分视为一个并联机构,然后应用螺旋理论分析各输出节点的自由度数目及性质,进而构造各输出节点与定节点之间的等效串联运动链,最后复原拆除的耦合约束链得到四面体基本可展单元的等效机构,应用修正的G-K公式计算等效机构的自由度数目,并基于反螺旋理论分析等效机构的自由度性质,从而获得四面体基本可展单元的运动特性。根据四面体基本可展单元的等效机构及其组合方式对最小组合单元及大尺寸构架式可展天线机构的结构进行了化简,并根据其几何特征约束方程推导了最小组合单元及大尺寸构架式可展天线机构的自由度。建立了由27个四面体基本可展单元组成的构架式可展天线机构的仿真模型,对该机构的自由度进行了验证,结果表明提出的拆杆等效法求得的自由度正确,为进一步分析此类天线机构的运动学和动力学奠定了基础,同时为其他类型的空间多环耦合机构的自由度分析提供了一种新的思路。     

基于牛顿欧拉法的3-RPS并联机构逆动力学分析

 以3-RPS机构为例，研究了对称少自由度并联机构的逆动力学问题。因其自由度数目小于6，该类机构的支链不仅传递驱动力，同时还需为动平台提供约束。然而，现有文献大多未对广义约束力给予足够的重视。采用牛顿欧拉法建立了3-RPS机构的刚体动力学方程，给定动平台的运动规律及外载荷后，可一并求解机构所需的驱动力与约束力矩。算例仿真表明，与动平台自由速度方向不一致的外载荷主要需由约束力矩平衡。因此，在对称少自由度并联机构动力学设计中，必须计入广义约束力的影响。     

单框架控制力矩陀螺奇异问题研究

 研究单框架控制力矩陀螺群的奇异问题。给出了一种新的奇异度量，并推导出利用该度量的简洁的零运动公式。对于不同的构型，该度量反映了陀螺群Jacobian矩阵求逆运算的误差灵敏度，且具有相同的取值范围，因此在分析各种构型的优劣时具有可比性。上述结论通过数值仿真给出了验证。对常用的行列式形式奇异度量，给出其零运动的清晰公式。基于奇异值分解，给出陀螺群的各类操纵律，证明了奇异方向与分解矩阵的关系，明确框架锁死出现的条件和鲁棒操纵律调控的依据。给出五棱锥构型奇异角动量体的切片图，为角动量体内奇异的出现提供了认识的方法；对失效情况下的五棱锥构型，通过奇异角动量曲面图和具体的切片图，直观地得到其内部形式和特性的显著变化。     

Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

As the deployment, supporting, and stability mechanisms of satellite antennas, space-deployable mechanisms play a key role in the field of aerospace. In order to design truss deployable antenna supporting mechanisms with large folding rate, high accuracy, easy deployment and strong stability, aiming at the geometric division of the parabolic reflector, a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed, and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative analysis. Then, the screw theory is employed to analyze the mobility of different mechanisms. Furthermore, the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods, and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division results. Finally, a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed, and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical perspective. The research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.     

Type synthesis of deployable mechanisms for ring truss antenna based on constraint-synthesis method

Space deployable antenna is the key equipment in realizing the communication and data transmission between the spacecraft and the earth. In order to enrich the configurations of deployable antennas, the type synthesis of deployable mechanisms for ring truss antenna is conducted in this study. First, the principle of the constraint-synthesis method based on screw theory is briefly described, the structure of the ring truss deployable antenna and its folding principle are analyzed, and the ring truss mechanism is divided into upper edges, lower edges and linkages. Then, based on the constraint-synthesis method, the type synthesis of the basic unit edges is carried out, a series of basic unit mechanisms are obtained from combining the basic unit edge mechanisms, and five mechanism units with fewer joints and simple structures are selected. Furthermore, simulation models of the five ring truss deployable mechanisms are built in Solidworks and Matlab software, and the deploying process is verified by the movement simulation. Finally, mechanism characteristics of the five mechanisms are analyzed and discussed, and a prototype is manufactured, verifying the analysis in this paper. This research provides a new way for the type synthesis of spatial deployable mechanisms, and the ring truss deployable mechanisms obtained in this study can be well applied in the field of aerospace.     

Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit

Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3RR-3RRR deployable unit cannot be fully folded, this study proposes a 3UU-3URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3UU-3URU unit is analyzed. Then, the 3UU-3URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3UU-3URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3UU-3URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified.     

3R-3URU可展单元机构及其在构架式可展天线中的应用

提出了一种空间单自由度(DOF)可展单元机构3R-3URU。首先,基于螺旋理论和修正的G-K公式分析了RURUR单闭环机构的自由度,建立了该机构中主动关节和被动关节速度之间的解析关系式,基于此关系式和3个RURUR机构共用首尾转动副的结构特点推导了3R-3URU单元机构的自由度,得到了3R-3URU机构具有1个自由度时各运动副的方向和位置满足的几何关系式。其次,将3R-3URU机构应用于3RR-3RRR四面体可展单元及其组成的球面构架式可展天线中,得到了具有收拢和调姿两种自由度的新型可展机构。最后,利用Adams软件对3R-3URU可展单元机构的自由度和其在四面体构架式可展天线中的应用进行了仿真验证。该3R-3URU可展单元机构具有单自由度、铰链种类少、结构简单等优点,可用于曲面构架式可展天线的支撑机构中,实现大折叠比。     

Optimizing accuracy of a parabolic cylindrical deployable antenna mechanism based on stiffness analysis

Accuracy of the fitted surface is of great importance to the performance of deployable antennas utilized in space. This paper proposes a stiffness analysis based fitting accuracy optimization method for achieving the optimal parameters of the parabolic cylindrical deployable antenna mechanism. The stiffness matrix of the proposed cylindrical antenna mechanism is established by assembling the stiffness of beams and tension cables. Structural deformations of the mechanism are calculated where the tensioned cable is substituted by a 2-node truss element and an equivalent force acting on the joint. Consideration of the tensity of tension cables, namely tensioned or slack, is transformed into a typical linear complementarity problem. Comparison between structural deformations of the mechanism fixed at different points is performed. Sensitivities of the geometric and structural parameters on fitting accuracy are investigated. Influence of force of the driven cable on structural deformations of antenna operated in different orbits is conducted. A fitting optimization method is proposed to minimize the structural deformations subject to constraints on volume and mass. Simulation result shows that the fitting accuracy of the antenna mechanism is improved significantly through the optimization. The proposed method can be utilized for the optimal design of other deployable mechanisms constructed by joining rigid links.     

Configuration synthesis of planar folded and common overconstrained spatial rectangular pyramid deployable truss units

Compared with non-overconstrained deployable units, overconstrained deployable units are widely used in space missions for their higher stiffness characteristics. Besides the performance of a three-step topological structural analysis and design of the rectangular pyramid deployable truss unit(PDTU), conducting a structural synthesis of an overconstrained deployable unit requires the determination of the relative position and direction of each kinematic axis. The structural synthesis of an overconstrained deployable unit is investigated based on screw theory and its topological structure. The possible overconstrained cases of the rectangular PDTUs are analyzed, and corresponding screw expressions are obtained. Thus, the rectangular PDTUs, which can be folded into a plane, are synthesized systemically, and a series of overconstrained rectangular PDTUs is obtained. Furthermore, the feasibility of the folded and deployed motions under one degree of freedom for those deployable units is verified in dynamical simulation by using ADAMS 2010.     

Parameter optimization for torsion spring of deployable solar array system with multiple clearance joints considering rigid–flexible coupling dynamics

In this paper, four novel evaluation indices and corresponding hierarchical optimization strategies are proposed for a deployable solar array system considering panel flexibility and joint clearance. The deployable solar array model consists of a rigid main-body, two panels and four key mechanisms, containing torsion spring mechanism, closed cable loop mechanism, latch mechanism and attitude adjustment mechanism. Rigid and flexible components are established by Nodal Coordinate Formulation and A...