三棱柱桁架式空间伸展臂的设计与分析

doi:10.3901/JME.2025.09.302

摘要/Abstract

摘要： 空间大型一维伸展臂是航天机构中的重要驱动组件，其在大型展开天线、太阳帆和望远镜的支撑骨架、太空机械手以及空间平台的建设中起重要作用。设计了一种剪叉机构和Sarrus机构组合的伸展臂单自由度空间展收单元，可通过串接该单元得到单自由度大型三棱柱桁架式空间伸展臂。给出了展收单元和伸展臂的折展比方程，建立了伸展臂机构的运动学与动力学模型，并对其展开过程进行了仿真。分析了展开过程与展开到位时伸展臂的静力学，加入Sarrus机构后伸展臂展开到位的承载能力大幅提高。制作了两单元串联的桁架式伸展臂样机，并开展了相关试验，验证了设计的可行性。

关键词: 空间伸展臂, 运动学, 静态刚度, 动力学分析

Abstract: The large one-dimensional extendable arm is a crucial actuation component within aerospace agencies, playing a significant role in the support frameworks of large unfolding antennas, solar sails, telescope skeletons, space manipulators, and the construction of space platforms. A space single-degree-of-freedom expansion and contraction unit combining scissor mechanisms and Sarrus linkages is designed, from which a single-degree-of-freedom large truss-type space extendable arm is achieved by connecting these units in series. It presents the folding and unfolding ratio equations for the expansion unit and the extendable arm, establishes the kinematic and dynamic models of the extendable arm mechanism, and simulates its unfolding process. The analysis of the unfolding process and the statics of the extendable arm when fully deployed shows that the inclusion of the Sarrus mechanism significantly enhances the load-bearing capacity upon deployment. A prototype of the truss-type extendable arm consisting of two serially connected units was constructed, and related experiments were conducted to verify the feasibility of the design.

Key words: space extendable arm, kinematics, static stiffness, dynamic analysis

中图分类号:

V414

侯铭轩, 刘德柱, 王哲, 任守志, 徐坤, 丁希仑. 三棱柱桁架式空间伸展臂的设计与分析[J]. 机械工程学报, 2025, 61(9): 302-313.

HOU Mingxuan, LIU Dezhu, WANG Zhe, REN Shouzhi, XU Kun, DING Xilun. Design and Analysis of a Triangular Prism Truss Space Extension Arm[J]. Journal of Mechanical Engineering, 2025, 61(9): 302-313.

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