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。空间机构具有结构刚度好、结构紧凑等优点。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，得到了空间对称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。
The deployable panel structures are widely used in aerospace applications, such as planar antennas, solar panels, etc. The spatial mechanisms have the advantage on good stiffness and compact structure. In order to improve the stiffness and deploying-packing ratio of the deployable panel structures, the spatial symmetric 6R mechanisms are applied to the deployable panel structures. According to the constraints, the geometrical parameters of the spatial 3R kinematic chain are firstly derived. Then, the constraint screw system of 3R chain is analyzed with screw theory. According to the symmetry characteristic, the kinematic features, such as mobility, singularity, etc., of this family of spatial symmetric 6R mechanisms are investigated. Based on that, a special symmetric 6R rotating mechanism is proposed. Finally, the assemblies of the spatial symmetric 6R mechanisms are studied and a novel deployable panel assembly structure, which has single degree of freedom, is proposed and validated by the kinematics simulation. This mechanism has the capability of deploying and packing in two dimensions. The achievement provides helpful references for designing novel deployable panel structure.
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