空间多臂机构折展性及其结构配置设计

doi:10.3901/JME.2020.05.133

机械工程学报 ›› 2020, Vol. 56 ›› Issue (5): 133-140.doi: 10.3901/JME.2020.05.133

• 航天重器——空间大型可展机构与装备专刊 • 上一篇下一篇

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空间多臂机构折展性及其结构配置设计

赵福群, 郭盛, 曲海波, 张程煜

北京交通大学机械与电子控制工程学院北京 100044

收稿日期:2019-03-10 修回日期:2019-07-28 出版日期:2020-03-05 发布日期:2020-04-23
通讯作者: 郭盛(通信作者),男,1972年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、运动控制学、机电一体化。E-mail:shguo@bjtu.edu.cn
作者简介:赵福群,男,1992年出生,博士研究生。主要研究方向为机器人机构学。E-mail:16116362@bjtu.edu.cn
基金资助:
国家自然科学基金（51875033）和中央高校基本科研业务费专项资金（2018YJS140）资助项目。

Design of Deployable Space Multiple-arm Mechanism and Its Structure Configuration

ZHAO Fuqun, GUO Sheng, QU Haibo, ZHANG Chengyu

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received:2019-03-10 Revised:2019-07-28 Online:2020-03-05 Published:2020-04-23

摘要/Abstract

摘要： 为提高空间多臂机构折展特性和操作特性等运动性能，通过多臂机构与操作物体可组成并联机构拓扑形式的设计思想，提出了一类具有折展特性和多种操作能力的空间多臂机构。定义了用于叠放折展支链的区域及策略，提出了折展支链的延伸性判别条件。基于指定区域的尺度限制，设计了具有不同自由度且满足特定叠放要求的折展支链。其次，以拓扑形式分解的方法将操作物体的工作模式进行分解表达，给出了多臂机构的结构配置形式。结果表明，基于所提方法，空间多臂机构可通过与操作物体自主释放与组合，改变拓扑形式，实现兼具折展性能和多种操作模式的设计目标。

关键词: 多臂机构, 叠放区域, 折展特性, 结构配置, 协同操作

Abstract: To improve the folding and operation performance of multiple-arm mechanism, a class of multiple-arm mechanism with deployable characteristic and multiple-operation capability is proposed by the idea that parallel mechanism can be formed by multiple-arm mechanism and operation object. The definition of the region and strategy for storing deployable chains and the proposal of the extension criteria of deployable chains are proposed. Based on the specified scale-restricted area, deployable chains with different degrees of freedom are designed to satisfy specific storing requirements. Working modes of objects is decomposed and expressed by means of topological decomposition, and the multiple-arm structure configuration is given. The results show the multiple-arm mechanism can change the topological form by autonomous release and combination with the operation object, so that it can achieve the design purpose of deployable characteristic and multiple-operation based on the proposed method.

Key words: multiple-arm mechanism, storage area, folded-deployed property, structure configuration, concurrent operation

中图分类号:

TH112

赵福群, 郭盛, 曲海波, 张程煜. 空间多臂机构折展性及其结构配置设计[J]. 机械工程学报, 2020, 56(5): 133-140.

ZHAO Fuqun, GUO Sheng, QU Haibo, ZHANG Chengyu. Design of Deployable Space Multiple-arm Mechanism and Its Structure Configuration[J]. Journal of Mechanical Engineering, 2020, 56(5): 133-140.

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空间多臂机构折展性及其结构配置设计

Design of Deployable Space Multiple-arm Mechanism and Its Structure Configuration

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