Design and Analysis of a Scissor-bending Deployable and Foldable Mechanism

doi:10.3901/JME.2020.05.055

Abstract

Abstract: A scissor-bending deployable and foldable metamorphic mechanism unit (SBDFMMU) based on the scissors mechanism is proposed, and the general constraints for constructing SBDFMMUs are given. The mathematical model of the movement of the mechanism unit is established, and degrees of freedom (DOFs) and the movement form of the mechanism is analyzed and calculated. The method of realizing the transformation of the SBDFMMU in the scissors mechanism motion and bending mechanism motion state is proposed. The calculation of the linkage length constraint condition and the angle initial condition required to realize the method are given by calculation and analysis. A method for controlling the bending curvature of the mechanism unit is proposed. The quantitative relationship between the limit linkage length and the bending curvature is obtained by numerical calculation. The mechanism units can be combined in series for the capture of large objects. Three-dimensional models of a single mechanism unit and a combination of two mechanism units are established, and motion simulations are performed to verify the feasibility of the design.

Key words: deployable and foldable mechanisms, metamorphic mechanisms, scissors mechanisms

CLC Number:

TH112
TP242

XU Kun, QIAO Anwei, DING Xilun. Design and Analysis of a Scissor-bending Deployable and Foldable Mechanism[J]. Journal of Mechanical Engineering, 2020, 56(5): 55-62.

References

[1] 肖航,杨巧龙,任守志,等.大型套接式展收机构接头设计分析及刚度试验研究[J]. 机械工程学报,2018,54(7):1-10. XIAO Hang,YANG Qiaolong,REN Shouzhi,et al. Design analysis and stiffness test of a large telescopic deployable mechanism joint[J]. Journal of Mechanical Engineering,2018,54(7):1-10.
[2] 杨毅,丁希仑. 基于空间多面体向心机构的伸展臂设计研究[J]. 机械工程学报,2011,47(5):26-34. YANG Yi,DING Xilun. Design and analysis of mast based on spatial polyhedral linkages mechanism along radial axes[J]. Journal of Mechanical Engineering,2011,47(5):26-34.
[3] 邓宗全. 空间折展机构设计[M]. 哈尔滨:哈尔滨工业大学出版社,2013. DENG Zongquan. Design of space deployable and foldable mechanisms[M]. Harbin:Harbin Institute of Technology Press,2013.
[4] 杨毅,丁希仑. 剪式单元可展机构静力学分析与拓扑优化设计[J]. 中国机械工程,2010,21(2):184-189. YANG Yi,DING Xilun. Analysis and topology optima-zation of deployable mechanism based on pantograph[J]. China Mechanical Engineering,2010,21(2):184-189.
[5] DESMOND H V,SAN D C. Expandable truss structure:US,US3783573[P]. 1974.
[6] 冯庆涛,潘存云,高富东. 一种新型旋转伸缩机构的设计与分析[J]. 机械设计与研究,2010,26(4):54-57. FENG Qingtao,PAN Cunyun,GAO Fudong. The design and analysis of a new rotational and expansive mechanism[J]. Machine Design and Research,2010,26(4):54-57.
[7] PINERO E P. Project for a mobile theatre[J]. Architectural Design,1961,12(1):154-155.
[8] YOU Z,PELLEGRINO S. Cable-stiffened pantographic deployable structures. I-triangular mast[J]. AIAA Journal,1996,34(4):813-820.
[9] YOU Z,PELLEGRINO S. Cable-stiffened pantographic deployable structures part 2:Mesh reflector[J]. AIAA Journal,1997,35(8):1348-1355.
[10] HOBERMAN C. Reversibly expandable doubly-curved truss structure:U.S.,4942700[P]. 1990-07-24.
[11] HOBERMAN C. Radial expansion/retraction truss structures:U.S.,5024031[P]. 1991-06-18.
[12] 李端玲. 变胞机构的机构学分析及应用[D]. 北京:北京航空航天大学,2003. LI Duanling. Mechanisms analysis and application of metamorphic mechanism[D]. Beijing:Beihang University,2003.
[13] 李端玲,张忠海,于振. 球面剪叉可展机构的运动特性分析[J]. 机械工程学报,2013,49(13):1-7. LI Duanling,ZHANG Zhonghai,YU Zhen. Kinematics analysis of spherical scissors deployable mechanisms[J]. Journal of Mechanical Engineering,2013,49(13):1-7.
[14] SUN Yuantao,WANG Sanmin,MILLS J K,et al. Kinematics and dynamics of deployable structures with scissor-like-elements based on screw theory[J]. Chinese Journal of Mechanical Engineering,2014,27(4):655-662.
[15] SUN Yuantao,WANG Sanmin,LI Jianfeng,et al. Mobility analysis of the deployable structure of SLE based on screw theory[J]. Chinese Journal of Mechanical Engineering,2013,26(4):793-800.
[16] 杨毅,丁希仑,戴建生. 一种伞式可折叠柔性变胞机构的设计分析研究[J]. 航空学报,2007,28(4):1014-1017. YANG Yi,DING Xilun,DAI Jiansheng. Design and analysis of an umbrella foldable compliant metamorphic mechanism[J]. Acta Aeronautica ET Astronautica Sinica,2007,28(4):1014-1017.
[17] XU K,LI L,BAI S,et al. Design and analysis of a metamorphic mechanism cell for multistage orderly deployable/retractable mechanism[J]. Mechanism and Machine Theory,2017,111:85-98.
[18] 孙桓,陈作模,葛文杰. 机械原理[M]. 北京:高等教育出版社,2006. SUN Huan,CHEN Zuomo,GE Wenjie. Theory of machines and mechanisms[M]. Beijing:Higher Education Press,2006.