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

doi:10.7527/S1000-6893.2019.23219

材料工程与机械制造

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

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

郭金伟¹, 黄志荣², 许允斗^1,3, 郭路瑶¹, 姚建涛^1,3, 赵永生^1,3

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. 中国空间技术研究院西安分院, 西安 710100;
3. 燕山大学先进锻压成形技术与科学教育部重点实验室, 秦皇岛 066004

收稿日期:2019-06-13 修回日期:2019-09-16 出版日期:2020-03-15 发布日期:2019-09-16
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）；河北省研究生创新资助项目（CXZZBS2019050）

Deployable antenna mechanism with class of modular truss based on tetrahedral combination unit

GUO Jinwei¹, HUANG Zhirong², XU Yundou^1,3, GUO Luyao¹, YAO Jiantao^1,3, ZHAO Yongsheng^1,3

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

Received:2019-06-13 Revised:2019-09-16 Online:2020-03-15 Published:2019-09-16
Supported by:
National Natural Science Foundation of China (51675458);The Key Project of Natural Science Foundation of Hebei Prov-ince (E2017203335);The Youth Top Talent Project of Hebei Province Higher Education(BJ2017060);Postgraduate Innovation Subsidy Project of Hebei Province(CXZZBS2019050)

摘要/Abstract

摘要： 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。

关键词: 四面体组合单元, 模块化, 构架式可展天线, 自由度分析, 收拢率

Abstract: To solve the complex structure, the low folding rate, and the large number of motion pairs of the existing tetrahedral-based truss antenna mechanism, a class of new modular deployable structure is proposed based on the 3RR-3RRR tetrahedral combination unit and the 3RR-3URU tetrahedral symmetric combination unit. The modular structure consisting of three combination units is selected as the analysis object. First, the composition of the modular structure and the axis arrangement of the Hook hinges are introduced in detail, and the number and property of the Degree of Freedom (DOF) of the combination unit itself are obtained by applying the idea of link-demolishing-equivalent-restoration, the screw theory and the G-K formula. Second, the motion simulation of the two modular structures is carried out by using Adams dynamics simulation software. The simulation results verified the correctness of the DOF analysis. The folding rate of the mechanism is characterized by the ratio of the space volume occupied by the mechanism when fully unfolding and fully folding. The folding rates of the existing non-modular mechanisms and modular mechanisms based on tetrahedral unit are calculated. Finally, the number of DOF and motion pairs, the folding rate of non-modular mechanisms and modular mechanisms are compared and analyzed. The analysis results show that the modular structure based on the 3RR-3URU tetrahedral symmetrical combination unit can achieve a large folding rate, and the number of degree of freedom and motion pairs are also relatively reduced. In addition, fewer types of links are use when forming large antennas. The research results provide a theoretical basis for the design and analysis of such modular truss deployable antenna structures.

Key words: tetrahedral combination unit, modular, truss deployable antenna, DOF analysis, folding rate

中图分类号:

V243.4
TH112

郭金伟, 黄志荣, 许允斗, 郭路瑶, 姚建涛, 赵永生. 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[J]. 航空学报, 2020, 41(3): 423219-423219.

GUO Jinwei, HUANG Zhirong, XU Yundou, GUO Luyao, YAO Jiantao, ZHAO Yongsheng. Deployable antenna mechanism with class of modular truss based on tetrahedral combination unit[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(3): 423219-423219.

参考文献 23

[1]	GANTES C J. Deployable structures:analysis and design[D]. Athens:National Technical University of Athens, 2001:145-158.
[2]	HANAOR A, LEVY R. Evaluation of deployable structures for space enclosures[J]. International Journal of Space Structure, 2001, 16(4):211-229.
[3]	PUIG L, BARTON A, RANDO N. A review on large deployable structures for astrophysics missions[J]. Acta Astronaut, 2010, 67(1-2):12-26.
[4]	CHEBOTAREV A S, PANTELEEV V A, FEYZULLA N M, et al. Truss-type deployable reflector antenna systems for synthetic aperture radar mounted on a small spacecraft[C]//2014 24th International Crimean Conference Microwave and Telecommunication Technology, 2014:521-522.
[5]	胡飞, 宋燕平, 郑士昆, 等. 空间构架式可展天线研究进展与展望[J]. 宇航学报, 2018, 39(2):111-120. HU F, SONG Y P, ZHENG S K, et al. Advances and trends in space truss deployable antennae[J]. Journal of Astronautics, 2018, 39(2):111-120(in Chinese).
[6]	高慧芳, 刘婧芳, 余跃庆. 一种单自由度对称可展耦合机构的设计[J]. 机械工程学报, 2018, 54(5):62-73. GAO H F, LIU J F, YU Y Q. Design of a 1-DOF symmetrical deployable coupled mechanism[J]. Journal of Mechanical Engineering, 2018, 54(5):62-73(in Chinese).
[7]	XU Y, GUAN F L. Structure-electronic synthesis design of deployable truss antenna[J]. Aerospace Science and Technology, 2013, 26(1):259-267.
[8]	SATTAR M, WEI C. Analytical kinematics and trajectory planning of large scale hexagonal modular mesh deployable antenna[C]//3rd International Conference on Mechanics and Mechatronics Research, 2016:458-553.
[9]	杨毅, 丁希仑. 四棱锥单元平板式可展开收拢机构的运动特性分析[J]. 航空学报, 2010, 31(6):1257-1265. YANG Y, DING X L. Kinematic analysis of a plane deployable mechanism assembled by four pyramid cells[J]. Acta Aeronautica et Astronautica Sinica, 2010, 31(6):1257-1265(in Chinese).
[10]	DING X L, YANG Y, DAI J S. Design and kinematic analysis of a novel prism deployable mechanism[J]. Mechanism and Machine Theory, 2013, 63:35-49.
[11]	杨毅, 丁希仑. 基于空间多面体向心机构的伸展臂设计研究[J]. 机械工程学报, 2011, 47(5):26-34. YANG Y, DING X L. Design and analysis of mast based on spatial polyhedral linkages mechanism along radial axes[J]. Journal of Mechanical Engineering, 2011, 47(5):26-34(in Chinese).
[12]	李端玲, 张忠海, 于振. 球面剪叉可展机构的运动特性分析[J]. 机械工程学报, 2013, 49(13):1-7. LI D L, ZHANG Z H, YU Z. Kinematic characteristic analysis of spherical scissors deployable mechanisms[J]. Journal of Mechanical Engineering, 2013, 49(13):1-7(in Chinese).
[13]	许允斗, 刘文兰, 陈亮亮, 等. 构架式可展天线机构自由度分析——拆杆等效法[J]. 航空学报, 2017, 38(9):321-332. XU Y D, LIU W L, CHEN L L, et al. Mobility analysis of a deployable truss-antenna mechanism-Method based on link-demolishing and equivalent idea[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(9):321-332(in Chinese).
[14]	CHU Z R, DENG Z Q, QI X Z, et al. Modeling and analysis of a large deployable antenna structure[J]. Acta Astronautica, 2014, 95(1):51-60.
[15]	WANG Y, LIU R Q, YANG H, et al. Design and deployment analysis of modular deployable structure for large antennas[J]. Journal of Spacecraft and Rockets, 2015, 52(4):1101-1111.
[16]	田大可. 模块化空间可展开天线支撑桁架设计与实验研究[D]. 哈尔滨:哈尔滨工业大学, 2011:19-94. TIAN D K. Design and experimental research on truss structure for modular space deployable antenna[D]. Harbin:Harbin Institute of Technology, 2011:19-94(in Chinese).
[17]	LI B, KONG W G, QI X Z. Modeling and design on modular deployable antenna[M]//Advances in Reconfigurable Mechanisms and Robots II. Springer International Publishing, 2016:1037-1048.
[18]	刘文兰,许允斗,姚建涛,等. 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):313-323. LIU W L, XU Y D, YAO J T, et al. Research on the deployable unit 3R-3URU and its application in the deployable truss antenna[J]. Acta Aeronautica et Astronautica Sinica, 2017,38(11):313-323(in Chinese).
[19]	许允斗,刘文兰,陈亮亮,等. 一种新型可展组合单元的自由度与运动学分析[J]. 深空探测学报,2017, 4(4):333-339. XU Y D, LIU W L, CHEN L L, et al. Mobility and kinematic analyses of a novel deployable composite element[J]. Journal of Deep Space Exploration, 2017, 4(4):333-339(in Chinese).
[20]	XU Y D, CHEN L L, LIU W L, et al. Type synthesis of the deployable mechanisms for the truss antenna using the method of adding constraint chains[J]. ASME Journal of Mechanisms and Robotics, 2018, 10(4):041002(1-12).
[21]	XU Y D, GUO J W,GUO L Y, et al. Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit[J]. Chinese Journal of Aeronautics, 2019, 32(2):2743-2754.
[22]	ARROYAVE-TOBON S, TEISSANDIER D, DELOS V. Applying screw theory for summing sets of constraints in geometric tolerancing[J]. Mechanism and Machine Theory, 2017, 112:255-271.
[23]	郭金伟,许允斗,刘文兰,等. 基于四面体单元的新型可展机构自由度分析[J]. 机械工程学报,2019, 55(12):9-18. GUO J W, XU Y D, LIU W L, et al. Mobility analysis of novel deployable mechanism based on tetrahedral element[J]. Journal of Mechanical Engineering, 2019, 55(12):9-18.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

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

Deployable antenna mechanism with class of modular truss based on tetrahedral combination unit

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献 23

相关文章 15

编辑推荐

Metrics

本文评价

[1]	何锋, 张立, 于思凡, 周璇. 基于网络演算的多窗口分区可调度性分析[J]. 航空学报, 2023, 44(2): 326581-326581.
[2]	陈博, 郭路瑶, 梁宝柱, 姜泽, 李明, 许允斗, 赵永生. 一种双向平板折展单元机构及其运动过程分析[J]. 航空学报, 2023, 44(2): 426720-426720.
[3]	曾国宏, 董玉昆, 吴学智, 罗晓, 赵敏如. 双绕组永磁同步电机的模块化对等控制[J]. 航空学报, 2022, 43(8): 325488-325488.
[4]	李春鹏, 张铁军, 钱战森, 刘铁中. 多用途无人机模块化布局气动设计[J]. 航空学报, 2022, 43(7): 125411-125411.
[5]	罗庆, 张涛, 单鹏, 张文涛, 刘子豪. 基于改进Q学习的IMA系统重构蓝图生成方法[J]. 航空学报, 2021, 42(8): 525792-525792.
[6]	王明明, 罗建军, 袁建平, 王嘉文, 刘聪. 空间在轨装配技术综述[J]. 航空学报, 2021, 42(1): 523913-523913.
[7]	赵长啸, 何锋, 李浩, 王鹏. 基于效能的先进战斗机航电系统动态重构方法[J]. 航空学报, 2020, 41(6): 523416-523416.
[8]	王博, 叶东, 孙兆伟, 唐生勇, 陈欣. 模块化可重构卫星在轨自重构的分层规划[J]. 航空学报, 2019, 40(9): 322912-322912.
[9]	阎芳, 邢培培, 赵长啸, 王鹏. 基于联合k/n(G)模型的DIMA系统可靠性建模与分析[J]. 航空学报, 2018, 39(6): 321971-321971.
[10]	王恩美, 邬树楠, 王晓明, 吴志刚. 大型卫星太阳能帆板的分布式振动控制[J]. 航空学报, 2018, 39(1): 221479-221479.
[11]	胡金海, 夏超, 彭靖波, 张驭, 任立通. 一种基于相邻模块化加权D-S的融合诊断方法[J]. 航空学报, 2016, 37(4): 1174-1183.
[12]	张立丰, 姚卫星, 邹君. 模块化飞机结构优化设计的等效多工况法[J]. 航空学报, 2015, 36(3): 834-839.
[13]	高晓光, 薛亚勇, 温增葵. IMA双层调度算法中的任务可调度性分析方法[J]. 航空学报, 2015, 36(2): 585-595.
[14]	谭龙华, 杜承烈, 雷鑫. ARINC 653分区实时系统的可调度分析[J]. 航空学报, 2015, 36(11): 3698-3705.
[15]	屈也频. 作战支援类飞机航空电子任务系统总体结构研究[J]. 航空学报, 2014, 35(8): 2307-2318.