基于正六边形折纸的单自由度可展结构

doi:10.3901/JME.2021.11.153

机械工程学报 ›› 2021, Vol. 57 ›› Issue (11): 153-164.doi: 10.3901/JME.2021.11.153

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基于正六边形折纸的单自由度可展结构

张霄¹, 李明^2,3, 崔琦峰^2,3, 陈学松¹, 马家耀^1,4, 陈焱^1,4

1. 天津大学机构理论与装备设计教育部重点实验室天津 300072;
2. 中国航天科技集团有限公司空间结构与机构技术实验室上海 201109;
3. 上海宇航系统工程研究所上海 201109;
4. 天津大学机械工程学院天津 300072

收稿日期:2020-07-10 修回日期:2020-10-09 出版日期:2021-06-05 发布日期:2021-07-23
通讯作者: 陈焱(通信作者),女,1974年出生,博士,教授,博士研究生导师。主要研究方向为机构学、折展结构、超材料的基础理论及其在航空航天结构、机器人、医疗微结构中的工程应用。E-mail:yan_chen@tju.edu.cn
作者简介:张霄,男,1988年出生,博士,助理研究员。主要研究方向为厚板折纸,可展结构,模块化超材料等。E-mail:zhangxiaofun@tju.edu.cn;李明,男,1985年出生,博士,高级工程师。主要研究方向为空间可展结构。E-mail:liming.ases@gmail.com;崔琦峰,男,1979年出生,博士,高级工程师。主要研究方向为空间结构机构。E-mail:qfcuinet@263.net;陈学松,男,1995年出生,硕士研究生。主要研究方向为可展结构、机构运动学等。E-mail:xschen@tju.edu.cn;马家耀,男,1986年出生,博士,副教授,博士研究生导师。主要研究方向为折纸结构,微创手术医疗器械等。E-mail:jiayao.ma@tju.edu.cn
基金资助:
国家自然科学基金资助项目（51825503，51721003）。

Regularly Hexagonal Origami Pattern Inspired Deployable Structure with Single Degree of Freedom

ZHANG Xiao¹, LI Ming^2,3, CUI Qifeng^2,3, CHEN Xuesong¹, MA Jiayao^1,4, CHEN Yan^1,4

1. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300072;
2. Space Structure and Mechanism Technology Laboratory, China Aerospace Science andTechnology Group Co. Ltd, Shanghai 201109;
3. Shanghai Institute of Aerospace System Engineering, Shanghai 201109;
4. School of Mechanical Engineering, Tianjin University, Tianjin 300372

Received:2020-07-10 Revised:2020-10-09 Online:2021-06-05 Published:2021-07-23

摘要/Abstract

摘要： 可展结构在航空航天领域应用广泛，其性能的优劣直接决定航天任务的成败。随着各种空间设备向着大型化和复杂化方向发展，对性能优良的可展结构的需求与日俱增。为了设计具有高可控性、大收纳率的可展结构，从刚性折纸的角度出发，对一种已有折纸图案进行改进，设计出一种新型零厚度正六边形折纸。进一步结合桁架理论和厚板折纸理论分析并降低了其自由度，从而提高了该机构的可控性，并借助D-H法对其进行了运动学分析。考虑到实际工程中应用的空间设备多有一侧为平整的工作表面，通过采用新的机构对原有机构进行运动等效替换，使其具有一侧平整展开表面，最终得到了一种具有单自由度大折展比的可展结构设计方案。

关键词: 可展结构, 刚性折纸, 桁架理论, 厚板折纸, 机构运动学

Abstract: Deployable structure is widely used in the field of aerospace engineering. Its performance can directly determine the success or failure of aerospace mission. With the development of large-scale and complex space equipment, there is an increasing demand for deployable structures with excellent performance. In order to design a deployable structure with high controllability and large storage rate, a new kind of regularly hexagonal origami pattern is designed from the perspective of rigid origami. Furthermore, the degree of freedom is reduced and the controllability is improved by combining the theories of the truss method and thick-panel origami. A kinematic study is conducted with D-H matrix method. Considering that the working surface of much space equipment is flat, the original mechanisms are replaced by other mechanisms without affecting original movements. Finally, a new kind of deployable structure with single degree of freedom and large expansion/packaging ratio is obtained, which is found to exhibit considerable potential in future space applications.

Key words: deployable structure, rigid origami, truss method, thick-panel origami, kinematics

中图分类号:

TH122

张霄, 李明, 崔琦峰, 陈学松, 马家耀, 陈焱. 基于正六边形折纸的单自由度可展结构[J]. 机械工程学报, 2021, 57(11): 153-164.

ZHANG Xiao, LI Ming, CUI Qifeng, CHEN Xuesong, MA Jiayao, CHEN Yan. Regularly Hexagonal Origami Pattern Inspired Deployable Structure with Single Degree of Freedom[J]. Journal of Mechanical Engineering, 2021, 57(11): 153-164.

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基于正六边形折纸的单自由度可展结构

Regularly Hexagonal Origami Pattern Inspired Deployable Structure with Single Degree of Freedom

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