百米级多超弹性铰链抛物柱面天线折展机构设计与运动学分析

doi:10.3901/JME.2022.03.075

机械工程学报 ›› 2022, Vol. 58 ›› Issue (3): 75-83.doi: 10.3901/JME.2022.03.075

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百米级多超弹性铰链抛物柱面天线折展机构设计与运动学分析

杨慧¹, 冯健¹, 刘永斌¹, 刘荣强²

1. 安徽大学电气工程与自动化学院合肥 230601;
2. 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:2021-02-03 修回日期:2021-05-13 出版日期:2022-02-05 发布日期:2022-03-19
通讯作者: 杨慧(通信作者),1986年出生,博士,副教授。主要研究方向为宇航空间超弹可折展机构、变形翼骨架机构、机器人技术、优化设计。E-mail:huiyang_0431@163.com
作者简介:;冯健,1998年出生,硕士研究生。主要研究方向为空间可折展机构结构设计及力学分析。E-mail:wnwhheart@163.com;刘永斌,1971年出生,博士,教授。主要研究方向为机电设备状态监测与智能诊断、机器人及工业现场自动化。E-mail:ybliu@ahu.edu.cn;刘荣强,1965年出生,博士,教授。主要研究方向为可折展机构、缓冲材料、机器人等。E-mail:liurq@hit.edu.cn
基金资助:
国家自然科学基金（51975001，51835002）和机器人技术与系统国家重点实验室开放研究（SKLRS-2020-KF-16）资助项目。

Design and Kinematic Analysis of a Large Deployable Mechanism of the Parabolic Cylindrical Antenna with Multi Tape-spring Hinges

YANG Hui¹, FENG Jian¹, LIU Yongbin¹, LIU Rongqiang²

1. School of Electrical Engineering and Automation, Anhui University, Hefei 230601;
2. State Key Laboratory of Robotics Technology and System, Harbin Institute of Technology, Harbin 150001

Received:2021-02-03 Revised:2021-05-13 Online:2022-02-05 Published:2022-03-19

摘要/Abstract

摘要： 为了满足空间任务需要，对可折展薄膜天线应用需求非常迫切，且朝着大展收比、高精度化、轻质化的方向发展。提出一种百米级多超弹性铰链抛物柱面天线折展机构，该机构主要由超弹性铰链、三棱柱伸展臂、横向折展肋、同步铰链和索网组成；三棱柱伸展臂能够进行纵向折展，横向肋进行横向二次折展。该机构采用模块化设计，依靠横向和纵向分布的超弹性铰链弯曲变形时存储的弹性势能实现展开和锁定，具有无源驱动的特点。考虑了超弹性铰链和绳索的非线性影响对该机构进行静刚度分析；采用位移坐标分析法和拉格朗日方程，分别建立了横向肋展开、三棱柱伸展臂纵向展开的运动学模型，为抛物柱面天线折展机构的宇航应用提供了理论基础。

关键词: 折展机构, 超弹性铰链, 静力学分析, 运动学分析, 抛物柱面

Abstract: In order to meet the needs of space mission, the application of deployable membrane antenna is very urgent, and it is developing to the large aspect ratio, high precision and lightweight. A kind of parabolic cylindrical antenna folding mechanism with multi tape-spring hinges is proposed. The mechanism is mainly composed of the tape-spring hinges, a triangular prism mast, the transverse folding ribs, the synchronous hinges and cable net. The triangular prism mast can fold longitudinally and the transverse ribs can fold along cross section. The modular design of the mechanism is based on the elastic potential energy stored at the transverse and longitudinal distribution of the tape-spring hinges when it is flexural deformation. Considering the nonlinear effects of the tape-spring hinges and cable, the static stiffness of the mechanism is analyzed; the kinematic models of the transverse ribs and the triangular prism mast are established by using displacement coordinate analysis method and Lagrange equation, which provides a theoretical basis for the application of parabolic cylindrical antenna folding mechanism.

Key words: deployable mechanism, tape-spring hinge, statics analysis, kinematics analysis, parabolic cylinder

中图分类号:

TN823

杨慧, 冯健, 刘永斌, 刘荣强. 百米级多超弹性铰链抛物柱面天线折展机构设计与运动学分析[J]. 机械工程学报, 2022, 58(3): 75-83.

YANG Hui, FENG Jian, LIU Yongbin, LIU Rongqiang. Design and Kinematic Analysis of a Large Deployable Mechanism of the Parabolic Cylindrical Antenna with Multi Tape-spring Hinges[J]. Journal of Mechanical Engineering, 2022, 58(3): 75-83.

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百米级多超弹性铰链抛物柱面天线折展机构设计与运动学分析

Design and Kinematic Analysis of a Large Deployable Mechanism of the Parabolic Cylindrical Antenna with Multi Tape-spring Hinges

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