Dynamics of Passive-input Overconstrained Deployable Antenna Mechanisms Composed of 3RR-3RRR Tetrahedron Units

doi:10.3901/JME.2020.05.181

Abstract

Abstract: The dynamic model of a passive-input overconstrained deployable antenna mechanism composed of 3RR-3RRR tetrahedron units is established, and the effects of the number, stiffness and initial compression angle of driving elements (i.e., torsion springs) on the motion of mechanism are analyzed. Based on the structural characteristics and spatial coordinate transformation formulas the relationships between the positions of the centroid of each component and the independent deployment angle of the mechanism are deduced, and then the analytical expressions of velocities of all components are obtained. The movements of all components are divided into translation motion, fixed-axis rotation, plane motion and compound motion according to the characteristic of the degree of freedom (DOF) of the mechanism. For the sake of dynamic analysis of the passive-input overconstrained mechanism, the composite motion of components is further decomposed into plane motion and translation motion along the normal direction of the plane. The dynamic models of the passive-input overconstrained deployable mechanism 3RR-3RRR and its combined mechanism 3(3RR-3RRR)-3RRR-3RRR are built by using Lagrange method. The relationships between the stiffness of torsion springs and the independent deployable angle of the mechanisms are obtained, and the influence of the stiffness and number of torsion springs on the deployable motion of the mechanisms is analyzed. The simulation model of 3(3RR-3RRR)-3RRR-3RRR mechanism is established by Adams software. The simulation is carried out by adding torsion springs with different numbers and stiffness. In addition, the effect of initial compression angle of torsion springs on the deployable motion of the mechanism is discussed. The simulation results verify the correctness of theoretical analyses. The results can provide theoretical guidance for the coordinated control of passive-input overconstrained deployable antenna mechanisms composed of 3RR-3RRR tetrahedron units.

Key words: overconstrained, deployable mechanisms, dynamics, stiffness, Lagrange method

CLC Number:

V243
TH112

LIU Wenlan, XU Yundou, GUO Jinwei, YAO Jiantao, ZHAO Yongsheng. Dynamics of Passive-input Overconstrained Deployable Antenna Mechanisms Composed of 3RR-3RRR Tetrahedron Units[J]. Journal of Mechanical Engineering, 2020, 56(5): 181-191.

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