固面可展开天线机构设计及运动学分析

doi:10.3901/JME.2025.03.237

机械工程学报 ›› 2025, Vol. 61 ›› Issue (3): 237-250.doi: 10.3901/JME.2025.03.237

• 机器人及机构学 • 上一篇

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固面可展开天线机构设计及运动学分析

范小东^1,2, 史创², 王治易^1,3,4, 刘天明^1,3,4, 郭宏伟², 刘荣强²

1. 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;
2. 哈尔滨工业大学机器人技术与系统全国重点实验室哈尔滨 150001;
3. 上海市空间飞行器机构技术重点实验室上海 201109;
4. 上海宇航系统工程研究所上海 201109

收稿日期:2024-03-03 修回日期:2024-08-16 发布日期:2025-03-12
作者简介:范小东，男，1995年出生，博士研究生。主要研究方向为空间大型可展开机构设计。E-mail:xiaodong_fan@126.com;史创(通信作者)，男，1990年出生，博士，副教授，硕士研究生导师。主要研究方向为空间折展机构设计、机构构型综合、机构动力学建模与仿真。E-mail:ty12shichuang@126.com;郭宏伟，男，1980年出生，博士，教授，博士研究生导师。主要研究方向为空间大型可展开机构与控制、飞行器变构型机构。E-mail:guohw@hit.edu.cn;刘荣强，男，1965年出生，博士，教授，博士研究生导师。主要研究方向为空间大型可展开机构与控制、着陆缓冲机构。E-mail:liurq@hit.edu.cn
基金资助:
中国航天科技集团有限公司空间结构与机构技术实验室开放课题基金、黑龙江省自然科学基金联合引导(LH2022E052)和国家自然科学基金面上(52175010)资助项目。

Mechanism Design and Kinematics Analysis for a Solid Surface Deployable Antenna

FAN Xiaodong^1,2, SHI Chuang², WANG Zhiyi^1,3,4, LIU Tianming^1,3,4, GUO Hongwei², LIU Rongqiang²

1. Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co. Ltd., Shanghai 201109;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001;
3. Shanghai Key Laboratory of Spacecraft Mechanism, Shanghai 201109;
4. Aerospace System Engineering Shanghai, Shanghai 201109

Received:2024-03-03 Revised:2024-08-16 Published:2025-03-12

摘要/Abstract

摘要： 固面天线具有可靠性高、精度高、热稳定性好的特点。针对目前固面可展开天线展开机构中因转动副的数量过多以及存在球铰、万向节等高副而影响天线结构的形面精度、联动驱动以及锁定刚化的问题，对比了固面天线绕正交双轴旋转分两步展开与绕单轴旋转一次展开的两种展开方式，提出一种适用于固面可展开天线的绕单轴旋转一次展开的展开机构，构建了计算旋转轴位置的参数化模型，建立了展开机构的运动学模型，采用数值仿真软件对所建立的模型进行了仿真，分析了旋转轴位置对天线收纳率、相邻面板间隙的影响，建立了天线结构的有限元模型，并对天线结构进行了优化设计。结果表明，绕单轴旋转的设计减少了转动副的数量、未采用球铰和万向节等高副，既提高了机构的展开可靠性，又方便了机构的联动、驱动以及锁定和刚化，同时优化后的结构具有更好的力学性能，期望为固面可展开天线的相关理论研究及工程应用提供参考。

关键词: 可展开天线, 折展机构, 固面天线, 构型综合, 运动学分析, 机构设计

Abstract: The solid surface deployable antenna has the characteristics of high reliability, high accuracy and good thermal stability. In view of the problems that the shape accuracy, linkage drive and locking stiffness of the solid surface deployable antenna structure are affected by the excessive number of rotating pairs and the presence of spherical joints, universal joints and other high pairs in the deployment mechanism of the solid surface deployable antenna, the two deployment methods of the solid surface deployable antenna rotating around the orthogonal double axis in two steps and rotating around the single axis in one time are compared. A deployable mechanism for deployable antenna on solid surface is proposed, which rotates around a single axis and deploys once. The parametric model for calculating the position of the rotation axis is constructed, and the kinematic model of the deployment mechanism is established. The numerical simulation software is used to simulate the established model, and the influence of the position of the rotation axis on the antenna storage rate and the gap between adjacent panels is analyzed. The finite element model of the antenna structure is established, and the antenna structure is optimized. The results show that the design of rotating around a single axis reduces the number of rotating pairs and does not use high pairs such as spherical joints and universal joints, which not only improves the deployment reliability of the mechanism, but also facilitates the linkage, driving, locking and stiffening of the mechanism. At the same time, the optimized structure has better mechanical performance, which is expected to provide reference for the theoretical research and engineering application of deployable antennas on solid surfaces.

Key words: deployable antennas, deployable mechanism, solid surface deployable antenna, configuration synthesis, kinematics analysis, mechanism design

中图分类号:

V443
TH112

范小东, 史创, 王治易, 刘天明, 郭宏伟, 刘荣强. 固面可展开天线机构设计及运动学分析[J]. 机械工程学报, 2025, 61(3): 237-250.

FAN Xiaodong, SHI Chuang, WANG Zhiyi, LIU Tianming, GUO Hongwei, LIU Rongqiang. Mechanism Design and Kinematics Analysis for a Solid Surface Deployable Antenna[J]. Journal of Mechanical Engineering, 2025, 61(3): 237-250.

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固面可展开天线机构设计及运动学分析

Mechanism Design and Kinematics Analysis for a Solid Surface Deployable Antenna

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