航空学报 > 2020, Vol. 41 Issue (3): 423219-423219   doi: 10.7527/S1000-6893.2019.23219

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. 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 Yundou1,3, GUO Luyao1, YAO Jiantao1,3, ZHAO Yongsheng1,3   

  1. 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: 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

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