3R-3URU可展单元机构及其在构架式可展天线中的应用

doi:10.7527/S1000-6893.2017.421285

材料工程与机械制造

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3R-3URU可展单元机构及其在构架式可展天线中的应用

刘文兰¹, 许允斗^1,2, 姚建涛^1,2, 陈亮亮¹, 王辉³, 赵永生^1,2

1. 燕山大学河北省并联机器人与机电系统实验室, 秦皇岛 066004;
2. 燕山大学先进锻压成型技术与科学教育部重点实验室, 秦皇岛 066004;
3. 中国空间技术研究院西安分院, 西安 710100

收稿日期:2017-03-27 修回日期:2017-06-02 出版日期:2017-11-15 发布日期:2017-06-02
通讯作者: 赵永生 E-mail:yszhao@ysu.edu.cn
基金资助:
国家自然科学基金（51675458）；河北省自然科学基金重点项目（E2017203335）；河北省高等学校青年拔尖人才计划项目（BJ2017060）

Deployable unit 3R-3URU and its application in deployable truss antenna

LIU Wenlan¹, XU Yundou^1,2, YAO Jiantao^1,2, CHEN Liangliang¹, WANG Hui³, ZHAO Yongsheng^1,2

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004, China;
3. China Academy of Space Technology(Xi'an), Xi'an 710100, China

Received:2017-03-27 Revised:2017-06-02 Online:2017-11-15 Published:2017-06-02
Supported by:
National Natural Science Foundation of China (51675458); Key Project of Natural Science Foundation of Hebei Province (E2017203335); Youth Top Talent Project of Hebei Province Higher Education (BJ2017060)

摘要/Abstract

摘要：

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。

关键词: 可展单元, 自由度, 螺旋理论, 折叠比, 可展天线

Abstract:

A spatial deployable unit 3R-3URU with one Degree of Freedom (DoF) is proposed. The DoF of the single closed-loop mechanism RURUR is analyzed, based on the screw theory and the modified G-K formula. The analytical expression for the velocities of active joints and passive joints of the mechanism RURUR are then established. According to the velocity expression and the structural characteristic that three RURUR mechanisms share their first and last revolute joints, the DoF of the 3R-3URU mechanism is derived. The geometrical relationship among the positions and directions of all joints is also obtained when the 3R-3URU mechanism has one DoF. Novel deployable mechanisms are obtained by applying the 3R-3URU mechanism to the 3RR-3RRR tetrahedral unit and a deployable truss antenna composed of the tetrahedral units, and the novel mechanisms have two types of DoFs:movement and orientation adjustment. DoF analysis and application of the 3R-3URU deployable unit are verified by the Adams software. The proposed deployable unit 3R-3URU has the advantages of one DoF, simple structure, and single type of joints, and can be applied to the supporting mechanism of deployable truss antennas with a curved surface to achieve a large folding ratio.

Key words: deployable unit, Degree of Freedom (DoF), screw theory, folding ratio, deployable antenna

中图分类号:

V243.4
TH112

刘文兰, 许允斗, 姚建涛, 陈亮亮, 王辉, 赵永生. 3R-3URU可展单元机构及其在构架式可展天线中的应用[J]. 航空学报, 2017, 38(11): 421285-421285.

LIU Wenlan, XU Yundou, YAO Jiantao, CHEN Liangliang, WANG Hui, ZHAO Yongsheng. Deployable unit 3R-3URU and its application in deployable truss antenna[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(11): 421285-421285.

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3R-3URU可展单元机构及其在构架式可展天线中的应用

Deployable unit 3R-3URU and its application in deployable truss antenna

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