空间可展开三棱柱伸展臂设计与优化

doi:10.3901/JME.2020.15.129

机械工程学报 ›› 2020, Vol. 56 ›› Issue (15): 129-137.doi: 10.3901/JME.2020.15.129

扫码分享

空间可展开三棱柱伸展臂设计与优化

高明星, 刘荣强, 李冰岩, 郭宏伟, 邓宗全

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150001

收稿日期:2019-08-30 修回日期:2020-03-30 出版日期:2020-08-05 发布日期:2020-10-19
通讯作者: 刘荣强(通信作者),男,1965年出生,博士,教授,博士研究生导师。主要研究方向为可展机构设计与控制、空间机械臂理论与应用和月球探测车关键技术。E-mail:liurq@hit.edu.cn
作者简介:高明星,男,1991年出生,博士研究生。主要研究方向为空间可展开伸展臂及空间稳定性分析。E-mail:gaomx_hit@163.com
基金资助:
国家自然科学基金资助项目（51575119，51675114）。

Design and Optimization of Space Deployable Tri-prism Mast

GAO Mingxing, LIU Rongqiang, LI Bingyan, GUO Hongwei, DENG Zongquan

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2019-08-30 Revised:2020-03-30 Online:2020-08-05 Published:2020-10-19

摘要/Abstract

摘要： 空间伸展臂作为空间折展机构中形式最丰富、研究最早、应用最广泛的一维空间折展机构，其主要作用是展开柔性太阳能帆板，支撑网状天线、合成孔径雷达、太空望远镜等。以三棱柱式伸展臂为研究对象，对伸展臂的展开方式和几何参数进行设计分析。基于几何非线性有限元理论，建立含空间桁架及预应力绳索的可展开伸展臂单元模型，然后建立含多可展开单元的大型伸展臂的几何非线性动力学模型。通过Matlab编程计算伸展臂的基频，得到影响伸展臂基频的关键因素，并以伸展臂的基频为优化目标，质量为约束条件，采用遗传算法对伸展臂进行优化设计。研制可展开三棱柱伸展臂样机，对伸展臂进行折展功能及参数优化设计验证试验。结果表明所设计的三棱柱伸展臂可顺利折展，所做的优化设计有效可行。通过该方法可以对特定任务需要的伸展臂进行优化设计，在满足约束条件的情况下，达到基频最高，对伸展臂的设计提供参考。

关键词: 三棱柱, 伸展臂, 非线性, 参数优化, 试验验证

Abstract: The space deployable mast, as the most diversified, earliest studied and most widely used one-dimensional space folding mechanism, is mainly used to drive flexible solar panels, support mesh antenna, synthetic aperture radar, space telescope and so on. Taking the tri-prism mast as the research object, the design and analysis of its deployed mode and geometric parameters are carried out. The model of deployable unit consist of space truss and prestressed rope is established, based on the geometric nonlinear finite element theory, and a geometric nonlinear dynamic model of a large deployable mast with multiple deployable units is established. The fundamental frequency of the deployable mast is calculated by Matlab programming, and the key factors affecting the fundamental frequency are obtained, further more, the genetic algorithm is used to optimize the design of the deployable mast, taking the fundamental frequency as the optimization target and the quality as the constraint condition. A prototype of tri-prism deployable mast is developed to verify the folding function and parameter optimization, the results show that the tri-prism mast can be folded smoothly and the optimized design is effective and feasible. This method can optimize the design of the deployable mast for specific tasks, and maximize fundamental frequency when the constraint conditions are satisfied, which providing a reference for the design of the deployable mast.

Key words: tri-prism, mast, nonlinear, parameter optimization, experimental verification

中图分类号:

V447

高明星, 刘荣强, 李冰岩, 郭宏伟, 邓宗全. 空间可展开三棱柱伸展臂设计与优化[J]. 机械工程学报, 2020, 56(15): 129-137.

GAO Mingxing, LIU Rongqiang, LI Bingyan, GUO Hongwei, DENG Zongquan. Design and Optimization of Space Deployable Tri-prism Mast[J]. Journal of Mechanical Engineering, 2020, 56(15): 129-137.

参考文献

[1] RIMROTT F P J,FRITZSCHE G. Fundamentals of stem mechanics[C]//IUTAM-IASS Symposium on Deployable Structures:Theory and Applications,September 6-9,1998,Cambridge,UK. Dordrecht,2000:321-333.
[2] TIBERT G. Deployable tensegrity structures for space applications[D]. Stockholm:KTH Royal Institute of Technology,2002.
[3] 周思达,周小陈. 空间伸展臂的技术现状与难点[J]. 中国空间科学技术,2014,34(6):38-50. ZHOU Sida,ZHOU Xiaochen. Development and technical difficulties of deployable space masts[J]. Chinese Space Science and Technology,2014,34(6):38-50.
[4] OGI Y,HIGUCHI K. Dynamics of a spin-axis extending shaft of thin-walled open cross-section[C]//49th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,16th AIAA/ASME/AHS Adaptive Structures Conference,10th AIAA Non-Deterministic Approaches Conference,9th AIAA Gossamer Spacecraft Forum,4th AIAA Multidisciplinary Design Optimization Specialists Conference,April 7-10,2008,Schaumburg,IL. Reston:AIAA,2008:3177-3188.
[5] PEYPOUDAT V,DEFOORT B,LACOUR D,et al. Development of a 3.2 m-long inflatable and rigidizable solar array breadboard[C]//46th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference,April 18-21,2005,Austin,Texas. Reston:AIAA,2005:1881-1888.
[6] CHRISTIAN J,JAYARAM S,SWARTWOUT M. Feasibility of a deployable boom aboard picosatellites for instrumentation and control purposes[C]//2012 IEEE Aerospace Conference,March 3-10,2012,Big Sky,Montana,USA. New York:IEEE,2012:1-9.
[7] PELLEGRINO S. Large retractable appendages in spacecraft[J]. Journal of Spacecraft & Rockets,2012,32(6):1006-1014.
[8] MEINE M,SMITH T,HAUER R N. Development of the GEMS telescope optical boom[C]//52nd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference 19th AIAA/ASME/AHS Adaptive Structures Conference 13th,April 4-7,2011,Denver,CO. Reston:AIAA,2011:357-366.
[9] SHAKER J F. Static stability of a three-dimensional space truss[C]// 13th Space Photovoltaic Research and Technology Conference (SPRAT 13),13th Space Photovoltaic Research and Technology Conference (SPRAT 13),September 1,1994,Cleveland,OH. Washington,D.C.:NASA CP-3278,1994:299-312.
[10] ELLIOTT K,HORTA L,TEMPLETON J,et al. Model calibration efforts for the international space station's solar array mast[C]//53rd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference 20th AIAA/ASME/AHS Adaptive Structures Conference,April 23-26,2012,Honolulu,HI. Reston:AIAA,2012:9309-9324.
[11] BOWDEN M L,WOOLERY B K. Space station solar array deployment mast[C]//43rd International Astronautical Federation Congress,Aug. 28-Sept. 5,1992,Washington,DC. Paris:IAF,1992:92-99.
[12] UMLAND J,EISEN H. SRTM on-orbit structural dynamics[C]// 19th AIAA Applied Aerodynamics Conference. April 16-19,2001,Seattle,WA. Reston:AIAA,2001:2997-3007.
[13] LANE S A,MURPHEY T W,ZATMAN M. Overview of the innovative space-based radar antenna technology program[J]. Journal of Spacecraft & Rockets,2015,48(1):135-145.
[14] TIBERT G. Deployable tensegrity structures for space applications[D]. Stockholm:KTH Royal Institute of Technology,2002.
[15] STOHLMAN O,PELLEGRINO S. Effects of component properties on the accuracy of a joint-dominated deployable mast[C]//52nd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference 19th AIAA/ASME/AHS Adaptive Structures Conference 13t. April 4-7,2011,Denver,CO. Reston:AIAA,2011:6456-6467.
[16] BROWN JrCG,PIERCE L E,SARABANDI K,et al. Validation of the shuttle radar topography mission height data[J]. IEEE Transactions on Geoscience and Remote Sensing,2005,43(8):1707-1715.
[17] RODRIGUEZ E,POLLARD B. The measurement capabilities of wide-swath ocean altimeters[C]//Report of the High-resolution Ocean Topography Science Working Group Meeting,4,2001,Oregon State University,Corvallis. OR,2001,190-215.
[18] KITAMURA T,NATORI M,YAMASHIRO K,et al. Development of a high stiffness extendable and retractable mast "HIMAT" for space application[C]//31st Structures,Structural Dynamics and Materials Conference,April 2-4,1990,Long Beach,CA,USA. Reston:AIAA,1990:572-577.
[19] EIDEN M,BRUNNER O,STAVRINIDIS C. Deployment analysis of olympus astromast and comparison with test measurements[J]. Journal of Spacecraft and Rocket,1987,24(1):63-68
[20] 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 Yi,DING Xilun. Design and analysis of mast based on spatial polyhedral linkages mechanism along radial axes[J]. Journal of Mechanical Engineering,2011,47(5):26-34.
[21] 郭宏伟,刘荣强,邓宗全. 索杆铰接式伸展臂动力学建模与分析[J]. 机械工程学报,2011,47(9):66-71. GUO Hongwei,LIU Rongqiang,DENG Zongquan. Dynamic modeling and analysis of cable-struture[J]. Journal of Mechanical Engineering,2011,47(9):66-71.
[22] ARITA S,FUKUTA I,YAMAGIWA Y,et al. A proposal of new deployable space structure applying buckling[C] // 2018 AIAA/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,January 8-12,2018,Kissimmee,Florida. Reston:AIAA,2018:4741-4750.
[23] CHOI J,LEE D,HWANG K,et al. Design,fabrication,and evaluation of a passive deployment mechanism for deployable space telescope[J]. Advances in Mechanical Engineering,2019,11(5):1687814019852258.
[24] SHIMIZU S,ISHIMURA K,MIYASHITA T,et al. Structural analysis of thermally induced stick-slip on deployable mast[C]//AIAA Scitech 2019 Forum,January 7-11,2019,San Diego,California. Reston:AIAA,2019:1025-1037.
[25] YANG H,GUO H W,WANG Y,et al. Design and experiment of triangular prism mast with tape-spring hyperelastic hinges[J]. Chinese Journal of Mechanical Engineering,2018,31(1):35-44.
[26] LI H Q,LIU X F,GUO S J,et al. Deployment dynamics and control of large-scale flexible solar array system with deployable mast[J]. Advances in Space Research,2016,58(7):1288-1302.
[27] 刘昊,魏承,田健,等. 空间充气展开绳网捕获系统动力学建模与分析[J]. 机械工程学报,2018,54(22):159-166. LIU Hao,WEI Cheng,TIAN Jian,et al. Dynamics modeling and analysis of the inflatable net system for space capture[J]. Journal of Mechanical Engineering,2018,54(22):159-166.
[28] ASHWEAR N,TAMADAPU G,ERIKSSON A. Optimization of modular tensegrity structures for high stiffness and frequency separation requirements[J]. International Journal of Solids and Structures,2016,80:297-309.

空间可展开三棱柱伸展臂设计与优化

Design and Optimization of Space Deployable Tri-prism Mast

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	段书用, 李昌洛, 韩旭, 刘桂荣. 机械臂动力学分析及关节非线性摩擦模型建立[J]. 机械工程学报, 2020, 56(9): 18-28.
[2]	姚立纲, 李敬仪, 东辉. 气动软体机械臂模块变刚度性能分析[J]. 机械工程学报, 2020, 56(9): 36-44.
[3]	李冰岩, 刘荣强, 从强, 郭宏伟, 林秋红, 邓宗全. 基于豆荚杆的三棱柱式可展开薄膜支撑臂设计与优化[J]. 机械工程学报, 2020, 56(7): 35-43.
[4]	李志农, 刘杰, 卢文秀, 褚福磊. 转子系统盘轴松动故障动力学建模和仿真研究[J]. 机械工程学报, 2020, 56(7): 60-71.
[5]	焦敬品, 常予, 李光海, 吴斌, 何存富. 铁磁性材料早期疲劳损伤磁混频检测方法[J]. 机械工程学报, 2020, 56(4): 25-34.
[6]	宋冬冬, 薛飞, 赵万华, 卢秉恒. 九轴联动叶片双刀对顶铣削的非线性误差分析与控制算法[J]. 机械工程学报, 2020, 56(3): 197-206.
[7]	曹毅, 王保兴, 孟刚, 林苗, 张洪. 大行程三平动柔性微定位平台的设计分析及优化[J]. 机械工程学报, 2020, 56(17): 71-81.
[8]	孔祥希, 牛俊开, 罗园庆, 许琦. 考虑感应电动机模型的质量偏心单盘转子系统Sommerfeld效应及不平衡响应分析[J]. 机械工程学报, 2020, 56(17): 137-144.
[9]	薛婷, 秦现生, 张顺琦, 王战玺, 白晶. CNT梯度增强纤维压电复合板壳几何非线性建模与分析[J]. 机械工程学报, 2020, 56(16): 44-53.
[10]	韩雪艳, 李富娟, 高振辉, 李仕华. 考虑摩擦与刚度的空间机构动力学特性[J]. 机械工程学报, 2020, 56(15): 170-180.
[11]	姚红良, 曹焱博, 张钦, 闻邦椿. 非线性能量阱在转子系统振动抑制中的应用[J]. 机械工程学报, 2020, 56(15): 191-197.
[12]	徐方程, 侯留凯, 吴斌. 基于箔片非线性刚度模型的止推箔片轴承特性研究[J]. 机械工程学报, 2020, 56(15): 198-206.
[13]	闫洪波, 高鸿, 郝宏波. 超磁致伸缩驱动器磁滞非线性动力学研究[J]. 机械工程学报, 2020, 56(15): 207-217.
[14]	辛运胜, 董青, 徐格宁. 轨道连接处缺陷对起重机运行冲击系数及疲劳剩余寿命的影响[J]. 机械工程学报, 2020, 56(14): 254-264.
[15]	李晖, 常永乐, 韩清凯, 闻邦椿. 基于细化共振法辨识纤维增强复合薄板的非线性阻尼[J]. 机械工程学报, 2020, 56(12): 9-18.