基于四面体单元的新型可展机构自由度分析
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摘要
基于3RR-3URU四面体单元构造对称和非对称两种可展组合单元机构,提出3UU-3URU四面体单元机构,并基于此单元构造可展组合单元机构,对这三种可展机构进行自由度分析。首先,基于拆杆等效法分析3RR-3URU四面体单元的自由度数目及性质,进一步将基本单元组合成对称组合单元和非对称组合单元两种形式,定义这两种组合单元的结构及需要满足的几何约束条件,并应用螺旋理论和G-K公式分析两种组合单元的自由度。其次,针对基于3RR-3URU构成的组合单元无法组网成大型可展天线机构的问题,提出3UU-3URU四面体单元及其组合单元机构,根据G-K公式得到其自由度数。最后,应用ADAMS仿真软件建立三种组合单元机构的仿真模型,对三种组合单元进行运动仿真,仿真结果验证其自由度分析的正确性。研究结果为四面体可展天线机构的设计与分析提供重要理论依据。
The DOF(degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism.
The DOF(degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism.
引文
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[19]许允斗,刘文兰,陈亮亮,等.构架式可展天线机构自由度分析--拆杆等效法[J].航空学报,2017,38(9):321-332.XU Yundou,LIU Wenlan,CHEN Liangliang,et al.Mobility analysis of a deployable truss-antenna mechanism:Method based on link-demolishing and equivalent idea[J].Acta Aeronautica ET Astronautica Sinica,2017,38(9):321-332.
[20]ARROYAVE-TOBON S,TEISSANDIER D,DELOS V.Applying screw theory for summing sets of constraints in geometric tolerancing[J].Mechanism and Machine Theory,2017(112):255-271.
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[22]刘靖芳,黄晓欧,余跃庆,等.多环耦合机构末端件自由度计算的等效法[J].机械工程学报,2014,50(23):13-19.LIU Jingfang,HUANG Xiaoou,YU Yueqing,et al.Equivalent method of output mobility calculation for a novel multi-loop coupled mechanism[J].Journal of Mechanical Engineering,2014,50(23):13-19.
[2]PUIG L,BARTON A,RANDO N.A review on large deployable structures for astrophysics missions[J].Acta Astronaut,2010,67(1-2):12-26.
[3]ZIMIN V N,KOLOSKOV I M,MESHKOVSKY V E,et al.Investigation of natural oscillations for self-deployable truss space antennae[C]//Tenth International Conference on Computational Methods and Experimental Measurements,CMEM X,Alicante,Spain,2001:497-504.
[4]HEDGEPETH J M.Accuracy potential for large space antenna reflectors with passive structure[J].Journal of Spacecraft,1982,19(3):211-217.
[5]张润宁,姜秀鹏.环境一号C卫星系统总体设计及其在轨验证[J].雷达学报,2014,3(3):249-255.ZHANG Running,JIANG Xiupeng.System design and in-orbit verification of the HJ-1-C SAR satellite[J].Journal of Radars,2014,3(3):249-255.
[6]XU Y,GUAN F L.Structure-electronic synthesis design of deployable truss antenna[J].Aerospace Science and Technology,2013,26(1):259-267.
[7]陈向阳,关富玲.六棱柱单元可展天线结构设计[J].空间科学学报,2001,21(1):68-72.CHEN Xiangyang,GUAN Fuling.A large deployable hexapod paraboloid antenna[J].Chinese Journal of Space Science,2001,21(1):68-72.
[8]陈向阳,关富玲.六棱柱单元可展抛物面天线结构设计[J].宇航学报,2001,22(1):75-78.CHEN Xiangyang,GUAN Fuling.A large deployable hexapod paraboloid antenna[J].Journal of Astronautics,2001,22(1):75-78.
[9]杨毅,丁希仑.四棱锥单元平板式可展开收拢机构的运动特性分析[J].航空学报,2010,31(6):1257-1265.YANG Yi,DING Xilun.Kinematic analysis of a plane deployable mechanism assembled by four pyramid cells[J].Acta Aeronautica ET Astronautica Sinica,2010,31(6):1257-1265.
[10]DING X L,YANG Y,DAI J S.Design and kinematic analysis of a novel prism deployable mechanism[J].Mechanism and Machine Theory,2013(63):35-49.
[11]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.Kinematic characteristic analysis of spherical scissors deployable mechanisms[J].Journal of Mechanical Engineering,2013,49(13):1-7.
[12]CHU Z R,DENG Z Q,QI X Z,et al.Modeling and analysis of a large deployable antenna structure[J].Acta Astronautica,2014,95(1):51-60.
[13]WANG Y,LIU R Q,YANG H,et al.Design and deployment analysis of modular deployable structure for large antennas[J].Journal of Spacecraft and Rockets,2015,52(4):1101-1111.
[14]田大可.模块化空间可展开天线支撑桁架设计与实验研究[D].哈尔滨:哈尔滨工业大学,2011.TIAN Dake.Design and experimental research on truss structure for modular space deployable antenna[D].Harbin:Harbin Institute of Technology,2011.
[15]CHEBOTAREV A S,PANTELEEV V A,FEYZULLA NM.Truss-type deployable reflector antenna systems for synthetic aperture radar mounted on a small spacecraft[C]//2014 24th International Crimean Conference Microwave and Telecommunication Technology,CriMiCo 2014.Sevastopol,Crimea,Ukraine,2014:521-522.
[16]FANG H,SHOOK L,LIN J,et al.A large and high radio frequency deployable reflector[C]//53rd AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics and Materials Conference.April 23-26,2012,Honolulu,Hawaii.United States:AIAA,2012:175-183.
[17]刘文兰,许允斗,姚建涛,等.3R-3URU可展单元机构及其在构架式可展天线中的应用[J].航空学报,2017,38(11):313-323.LIU Wenlan,XU Yundou,YAO Jiantao,et al.Research on the deployable unit 3R-3URU and its application in the deployable truss antenna[J].Acta Aeronautica ET Astronautica Sinica,2017,38(11):313-323.
[18]许允斗,刘文兰,陈亮亮,等.一种新型可展组合单元的自由度与运动学分析[J].深空探测学报,2017,4(4):333-339.XU Yundou,LIU Wenlan,CHEN Liangliang,et al.Mobility and kinematic analyses of a novel deployable composite element[J].Journal of Deep Space Exploration,2017,4(4):333-339.
[19]许允斗,刘文兰,陈亮亮,等.构架式可展天线机构自由度分析--拆杆等效法[J].航空学报,2017,38(9):321-332.XU Yundou,LIU Wenlan,CHEN Liangliang,et al.Mobility analysis of a deployable truss-antenna mechanism:Method based on link-demolishing and equivalent idea[J].Acta Aeronautica ET Astronautica Sinica,2017,38(9):321-332.
[20]ARROYAVE-TOBON S,TEISSANDIER D,DELOS V.Applying screw theory for summing sets of constraints in geometric tolerancing[J].Mechanism and Machine Theory,2017(112):255-271.
[21]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2014.HUANG Zhen,ZHAO Yongsheng,ZHAO Tieshi.Advanced spatial mechanism[M].Beijing:Higher Education Press,2014.
[22]刘靖芳,黄晓欧,余跃庆,等.多环耦合机构末端件自由度计算的等效法[J].机械工程学报,2014,50(23):13-19.LIU Jingfang,HUANG Xiaoou,YU Yueqing,et al.Equivalent method of output mobility calculation for a novel multi-loop coupled mechanism[J].Journal of Mechanical Engineering,2014,50(23):13-19.