• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (12): 9-18.doi: 10.3901/JME.2019.12.009

• 特邀专栏:空间机构设计青年学者专栏 • 上一篇    下一篇

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基于四面体单元的新型可展机构自由度分析

郭金伟1, 许允斗1,2, 刘文兰1, 姚建涛1,2, 赵永生1,2   

  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. 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:2018-07-07 修回日期:2018-11-26 出版日期:2019-06-20 发布日期:2019-06-20
  • 通讯作者: 赵永生(通信作者),男,1962年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人理论及其应用、传感器技术、空间可展天线技术。E-mail:yszhao@ysu.edu.cn
  • 作者简介:郭金伟,女,1991年出生,博士研究生。主要研究方向为并联机构学理论及空间可展天线技术。E-mail:1473733099@qq.com
  • 基金资助:
    国家自然科学基金(51675458)、河北省自然科学基金重点(E2017203335)和河北省高等学校青年拔尖人才计划(BJ2017060)资助项目

Mobility Analysis of Novel Deployable Mechanism Based on Tetrahedral Element

GUO Jinwei1, XU Yundou1,2, LIU Wenlan1, YAO Jiantao1,2, ZHAO Yongsheng1,2   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
    2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004
  • Received:2018-07-07 Revised:2018-11-26 Online:2019-06-20 Published:2019-06-20

摘要: 基于3RR-3URU四面体单元构造对称和非对称两种可展组合单元机构,提出3UU-3URU四面体单元机构,并基于此单元构造可展组合单元机构,对这三种可展机构进行自由度分析。首先,基于拆杆等效法分析3RR-3URU四面体单元的自由度数目及性质,进一步将基本单元组合成对称组合单元和非对称组合单元两种形式,定义这两种组合单元的结构及需要满足的几何约束条件,并应用螺旋理论和G-K公式分析两种组合单元的自由度。其次,针对基于3RR-3URU构成的组合单元无法组网成大型可展天线机构的问题,提出3UU-3URU四面体单元及其组合单元机构,根据G-K公式得到其自由度数。最后,应用ADAMS仿真软件建立三种组合单元机构的仿真模型,对三种组合单元进行运动仿真,仿真结果验证其自由度分析的正确性。研究结果为四面体可展天线机构的设计与分析提供重要理论依据。

关键词: 四面体单元, 组合单元, 可展机构, 自由度分析, 螺旋理论

Abstract: The DOF (degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism.

Key words: tetrahedral element, composite unit, deployable structures, mobility analysis, screw theory

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