模块化可展开天线支撑机构运动学建模与分析

模块化可展开天线具有拓展性强、灵活性高、适应性好等特点，是满足未来可展开天线大口径发展趋势的一种较为理想的结构形式。为研究由六棱柱模块组成的可展开天线支撑机构多模块联动展开运动特性，提出一种多模块联动展开运动学建模方法。根据可展开天线的结构组成及展开原理，建立了可展开天线机构关键点的空间几何模型，基于机器人学中的D-H法和坐标变换等理论，分别建立了基本单元、单模块和多模块的运动学模型，最后采用MATLAB数值仿真软件，对运动学模型进行了验证及分析。结果表明：该运动学模型可以对多层模块的可展开天线机构进行运动学分析，各模块实现了协调联动、同步展开，同时该模型为机构的动力学特性分析、动力源配置及优化等研究提供了研究基础。

Kinematic modeling and analysis of support mechanism for modular deployable antenna

The characteristics of strong expansibility, high flexibility and good adaptability are provided by a modular deployable antenna. The large aperture development trend of the deployable antenna can be met by such an ideal structural form in the future. To study the multi-module linkage deployment movement characteristics of the deployable antenna support mechanism composed of hexagonal prism modules, a kinematic modeling method of multi-module linkage deployment was proposed. According to the structure composition and deployment principle of the deployable antenna, the spatial geometric model of key points of the deployable antenna mechanism was established. Based on the D-H method and coordinate transformation theory in robotics, kinematics models of a basic unit, single module and multi module were established respectively. Finally, the kinematics model was verified and analyzed by MATLAB numerical simulation software. The results show that the kinematics model can be used to analyze the multi-layer deployable antenna mechanism, coordinated linkage and synchronous deployment can be realized by each module. At the same time, a research basis is provided by the model for the dynamic characteristics analysis, power source configuration and optimization of the mechanism.