基于螺旋理论的环形桁架式可展天线构型综合
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摘要
基于螺旋理论针对环形桁架式可展天线机构的构型综合问题进行研究,首先概述基于螺旋理论的约束综合法,然后分析环形桁架可展天线机构的收展原理,将环形桁架机构分为上下环形边两部分,通过综合环形边机构并连接上下环形边便可得到环形桁架机构;采用移动副(P)来描述各个节点花盘的运动特性,通过基于螺旋理论的约束综合法针对环形边支链机构进行分析与综合,得到了16种约束支链机构,通过分析与优选得到了两种约束支链机构;采用综合得到的约束支链机构组合得到了环形边链路机构并通过连接组合与推演得到了四种环形桁架可展开机构;最后针对综合得到的四种环形桁架机构在Solidworks软件中进行了三维建模与运动仿真,校验了各机构的可展性。本文的研究为可展天线机构的构型综合提供了一种新思路,综合得到的几种环形桁架机构在空间可展开天线领域具有较好的应用前景。
Based on the screw theory,the type synthesis of the ring truss deployable antenna mechanism is studied.Firstly,the constrained synthesis method based on the screw theory is briefly introduced,and the deployment principle of the ring truss deployable antenna mechanism is analyzed. Then,the ring truss mechanism is divided into two parts,the upper ring edge and the lower ring edge,the ring truss mechanism can be obtained by constructing the ring edge mechanisms and connecting the upper and lower ring edges. Furthermore,the prismatic joint( P) ARE used to describe the movement characteristics of each node,the analysis and synthesis of the ring edge mechanisms are carried out by the constraint synthesis method based on the screw theory,16 kinds of constraint branch mechanisms are obtained,and two kinds of constraint branch mechanisms are selected through analysis and optimization. The ring edge link mechanisms are obtained by combining the constraint branch mechanisms,and four ring truss deployable mechanisms are obtained through different connection combinations. Finally,three-dimensional models are built in Solidworks software for the four kinds of ring truss deployable mechanisms,and the deployable features of the four mechanisms are verified by the movement simulation. The research provides a new idea for the synthesis of the deployable antenna mechanisms,and the ring truss mechanisms obtained have a good application prospect in the field of space deployable antenna.
Based on the screw theory,the type synthesis of the ring truss deployable antenna mechanism is studied.Firstly,the constrained synthesis method based on the screw theory is briefly introduced,and the deployment principle of the ring truss deployable antenna mechanism is analyzed. Then,the ring truss mechanism is divided into two parts,the upper ring edge and the lower ring edge,the ring truss mechanism can be obtained by constructing the ring edge mechanisms and connecting the upper and lower ring edges. Furthermore,the prismatic joint( P) ARE used to describe the movement characteristics of each node,the analysis and synthesis of the ring edge mechanisms are carried out by the constraint synthesis method based on the screw theory,16 kinds of constraint branch mechanisms are obtained,and two kinds of constraint branch mechanisms are selected through analysis and optimization. The ring edge link mechanisms are obtained by combining the constraint branch mechanisms,and four ring truss deployable mechanisms are obtained through different connection combinations. Finally,three-dimensional models are built in Solidworks software for the four kinds of ring truss deployable mechanisms,and the deployable features of the four mechanisms are verified by the movement simulation. The research provides a new idea for the synthesis of the deployable antenna mechanisms,and the ring truss mechanisms obtained have a good application prospect in the field of space deployable antenna.
引文
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[5]黄志荣,郑士昆,朱佳龙,等.环境一号C星构架反射器展开驱动部件优化设计[J].雷达学报,2014,3(3):282-287.[Huang Zhi-rong,Zheng Shi-kun,Zhu Jia-long,et al.Design optimization of expansion driven components for the HJ-1-Csatellite[J].Journal of Radars,2014,3(3):282-287.]
[6]Li T J.Deployment analysis and control of deployable space antenna[J].Aerospace Science and Technology,2012,18(1):42-47.
[7]罗阿妮,刘贺平,李杨,等.花瓣式可展天线的结构分析[J].中国机械工程,2012,23(14):1656-1658.[Luo A-ni,Liu He-ping,Li Yang,et al.Structural analysis of flowerlike deployable antenna[J].China Mechanical Engineering,2012,23(14):1656-1658.]
[8]Dai L,Guan F L,Guest J K.Structural optimization and model fabrication of a double-ring deployable antenna truss[J].Acta Astronautica,2014,94(2):843-851.
[9]李团结,周懋花,段宝岩.可展天线的柔性索网结构找形分析方法[J].宇航学报,2008,29(3):794-798.[Li Tuan-jie,Zhou Mao-hua,Duan Bao-yan.A method of form-finding analysis for flexible cable net structures of deployable antennas[J].Journal of Astronautics,2008,29(3):794-798.]
[10]Xu Y,Guan F L,Chen J J,et al.Structural design and static analysis of a double-ring deployable truss for mesh antennas[J].Acta Astronautica,2012,81(2):545-554.
[11]史创,郭宏伟,刘荣强,等.双层环形可展开天线机构设计与力学分析[J].哈尔滨工业大学学报,2017,49(1):14-20.[Shi Chuang,Guo Hong-wei,Liu Rong-qiang,et al.Mechanism design and mechanical analysis of a double-layer loop deployable antenna[J].Journal of Harbin Institute of Technology,2017,49(1):14-20.]
[12]Xu Y,Guan F L.Structure-electronic synthesis design of deployable truss antenna[J].Aerospace Science and Technology,2013,26(1):259-267.
[13]Meguro A,Tsujihata A,Hamamoto N,et al.Technology status of the 13 m aperture deployment antenna reflectors for engineering test satellite VIII[J].Acta Astronautica,2000,47(2-9):147-152.
[14]Escrig F.Expandable space structures[J].International Journal of Space Structures,1985,1(2):79-91.
[15]You Z,Pellegrino S.Cable-stiffened pantographic deployable structures part 2:mesh reflector[J].AIAA Journal,1997,35(8):1348-1355.
[16]Guan F L,Dai L,Xia M M.Pretension optimization and verification test of double-ring deployable cable net antenna based on improved PSO[J].Aerospace Science and Technology,2014,32(1):19-25.
[17]史创,郭宏伟,刘荣强,等.双层环形可展开天线机构构型优选及结构设计[J].宇航学报,2016,37(7):869-878.[Shi Chuang,Guo Hong-wei,Liu Rong-qiang,et al.Configuration optimization and structure design of the double-layer hoop deployable antenna mechanism[J].Journal of Astronautics,2016,37(7):869-878.]
[18]Lu S N,Zlatanov D,Ding X L,et al.A new family of deployable mechanisms based on the Hoekens linkage[J].Mechanism and Machine Theory,2014,73(2):130-153.
[19]Vu K K,Liew J Y R,Anandasivam K.Deployable tension-strut structures:from concept to implementation[J].Journal of Constructional Steel Research,2006,62(3):195-209.
[20]广晨汉,刘迎,杨洋.单顶点多折痕折纸形式启发的空间折展机构[J].宇航学报,2018,39(7):97-103.[Guang Chenhan,Liu Ying,Yang Yang.A Space deployable mechanism inspired by single-vertex multi-crease origami pattern[J].Journal of Astronautics,2018,39(7):97-103.]
[21]杨毅,张武翔.一类空间对称6R机构的运动学研究及组合应用[J].航空学报,2014,35(12):3459-3469.[Yang Yi,Zhang Wu-xiang.Kinematic investigation and assembly application of a spatial symmetric 6R mechanism[J].Acta Aeronautica et Astronautica Sinica,2014,35(12):3459-3469.]
[22]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 Xi-lun.Design and analysis of mast based on spatial polyhedral linkages mechanism along radial axes[J].Journal of Mechanical Engineering,2011,47(5):26-34.]
[23]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 Xi-lun.Kinematic analysis of a plane deployable mechanism assembled by four pyramid cells[J].Acta Aeronautica et Astronautica Sinica,2010,31(6):1257-1265.]
[24]邱雪松,任志博,桂朋,等.含多间隙柔性可展帆板动力学建模及仿真[J].宇航学报,2018,39(7):724-731.[Qiu Xue-song,Ren Zhi-bo,Gui Peng,et al.Dynamic modeling and simulation of a flexible deployable solar array with multiple clearances[J].Journal of Astronautics,2018,39(7):724-731.]
[25]Chen Y,You Z,Tarnai T.Threefold-symmetric Bricard linkages for deployable structures[J].International Journal of Solids and Structures,2005,42(8):2287-2301.
[26]Chen Y,You Z.On mobile assemblies of Bennett linkages[J].Proceedings Mathematical Physical and Engineering Sciences,2008,464(2093):1275-1293.
[27]Qi X Z,Deng Z Q,Li B,et al.Design and optimization of large deployable mechanism constructed by Myard linkages[J].Ceas Space Journal,2013,5:147-155.
[28]韩博,许允斗,姚建涛,等.剪叉联动式双层环形桁架可展开天线机构设计与分析[J].载人航天,2017,23(3):306-310.[Han Bo,Xu Yun-dou,Yao Jian-tao,et al.Design and analysis of scissors linkage double ring truss deployable antenna mechanism[J].Manned Spaceflight,2017,23(3):306-310.]
[29]Deng Z Q,Huang H L,Li B,et al.Synthesis of deployable/foldable single loop mechanisms with revolute joints[J].Journal of Mechanisms and Robotics,2011,3(3):031006.
[30]Xu Y D,Chen L L,Liu W L,et al.Type synthesis of the deployable mechanisms for the truss antenna using the method of adding constraint chains[J].Journal of Mechanisms and Robotics,2018,10(4):041002.
[31]Wang Y,Deng Z Q,Liu R Q,et al.Topology structure synthesis and analysis of spatial pyramid deployable truss structures for satellite SAR antenna[J].Chinese Journal of Mechanical Engineering,2014,27(4):683-692.
[32]Warnnar D B,Chew M.Kinematic synthesis of deployablefoldable truss structures using graph theory,part 2:generation of deployable truss module design concepts[J].Journal of Mechanical Design,1995,117(1):117-122.
[33]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,2006:326-368.
[2]刘明治,高桂芳.空间可展开天线结构研究进展[J].宇航学报,2003,24(1):82-87.[Liu Ming-zhi,Gao Gui-fang.Advances in the study on structure for space deployable antenna[J].Journal of Astronautics,2003,24(1):82-87.]
[3]Qi X Z,Deng Z Q,Li B,et al.Design and optimization of large deployable mechanism constructed by Myard linkages[J].Ceas Space Journal,2013,5:147-155.
[4]Wang Y,Deng Z Q,Liu R Q,et al.Topology structure synthesis and analysis of spatial pyramid deployable truss structures for satellite SAR antenna[J].Chinese Journal of Mechanical Engineering,2014,27(4):683-692.
[5]黄志荣,郑士昆,朱佳龙,等.环境一号C星构架反射器展开驱动部件优化设计[J].雷达学报,2014,3(3):282-287.[Huang Zhi-rong,Zheng Shi-kun,Zhu Jia-long,et al.Design optimization of expansion driven components for the HJ-1-Csatellite[J].Journal of Radars,2014,3(3):282-287.]
[6]Li T J.Deployment analysis and control of deployable space antenna[J].Aerospace Science and Technology,2012,18(1):42-47.
[7]罗阿妮,刘贺平,李杨,等.花瓣式可展天线的结构分析[J].中国机械工程,2012,23(14):1656-1658.[Luo A-ni,Liu He-ping,Li Yang,et al.Structural analysis of flowerlike deployable antenna[J].China Mechanical Engineering,2012,23(14):1656-1658.]
[8]Dai L,Guan F L,Guest J K.Structural optimization and model fabrication of a double-ring deployable antenna truss[J].Acta Astronautica,2014,94(2):843-851.
[9]李团结,周懋花,段宝岩.可展天线的柔性索网结构找形分析方法[J].宇航学报,2008,29(3):794-798.[Li Tuan-jie,Zhou Mao-hua,Duan Bao-yan.A method of form-finding analysis for flexible cable net structures of deployable antennas[J].Journal of Astronautics,2008,29(3):794-798.]
[10]Xu Y,Guan F L,Chen J J,et al.Structural design and static analysis of a double-ring deployable truss for mesh antennas[J].Acta Astronautica,2012,81(2):545-554.
[11]史创,郭宏伟,刘荣强,等.双层环形可展开天线机构设计与力学分析[J].哈尔滨工业大学学报,2017,49(1):14-20.[Shi Chuang,Guo Hong-wei,Liu Rong-qiang,et al.Mechanism design and mechanical analysis of a double-layer loop deployable antenna[J].Journal of Harbin Institute of Technology,2017,49(1):14-20.]
[12]Xu Y,Guan F L.Structure-electronic synthesis design of deployable truss antenna[J].Aerospace Science and Technology,2013,26(1):259-267.
[13]Meguro A,Tsujihata A,Hamamoto N,et al.Technology status of the 13 m aperture deployment antenna reflectors for engineering test satellite VIII[J].Acta Astronautica,2000,47(2-9):147-152.
[14]Escrig F.Expandable space structures[J].International Journal of Space Structures,1985,1(2):79-91.
[15]You Z,Pellegrino S.Cable-stiffened pantographic deployable structures part 2:mesh reflector[J].AIAA Journal,1997,35(8):1348-1355.
[16]Guan F L,Dai L,Xia M M.Pretension optimization and verification test of double-ring deployable cable net antenna based on improved PSO[J].Aerospace Science and Technology,2014,32(1):19-25.
[17]史创,郭宏伟,刘荣强,等.双层环形可展开天线机构构型优选及结构设计[J].宇航学报,2016,37(7):869-878.[Shi Chuang,Guo Hong-wei,Liu Rong-qiang,et al.Configuration optimization and structure design of the double-layer hoop deployable antenna mechanism[J].Journal of Astronautics,2016,37(7):869-878.]
[18]Lu S N,Zlatanov D,Ding X L,et al.A new family of deployable mechanisms based on the Hoekens linkage[J].Mechanism and Machine Theory,2014,73(2):130-153.
[19]Vu K K,Liew J Y R,Anandasivam K.Deployable tension-strut structures:from concept to implementation[J].Journal of Constructional Steel Research,2006,62(3):195-209.
[20]广晨汉,刘迎,杨洋.单顶点多折痕折纸形式启发的空间折展机构[J].宇航学报,2018,39(7):97-103.[Guang Chenhan,Liu Ying,Yang Yang.A Space deployable mechanism inspired by single-vertex multi-crease origami pattern[J].Journal of Astronautics,2018,39(7):97-103.]
[21]杨毅,张武翔.一类空间对称6R机构的运动学研究及组合应用[J].航空学报,2014,35(12):3459-3469.[Yang Yi,Zhang Wu-xiang.Kinematic investigation and assembly application of a spatial symmetric 6R mechanism[J].Acta Aeronautica et Astronautica Sinica,2014,35(12):3459-3469.]
[22]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 Xi-lun.Design and analysis of mast based on spatial polyhedral linkages mechanism along radial axes[J].Journal of Mechanical Engineering,2011,47(5):26-34.]
[23]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 Xi-lun.Kinematic analysis of a plane deployable mechanism assembled by four pyramid cells[J].Acta Aeronautica et Astronautica Sinica,2010,31(6):1257-1265.]
[24]邱雪松,任志博,桂朋,等.含多间隙柔性可展帆板动力学建模及仿真[J].宇航学报,2018,39(7):724-731.[Qiu Xue-song,Ren Zhi-bo,Gui Peng,et al.Dynamic modeling and simulation of a flexible deployable solar array with multiple clearances[J].Journal of Astronautics,2018,39(7):724-731.]
[25]Chen Y,You Z,Tarnai T.Threefold-symmetric Bricard linkages for deployable structures[J].International Journal of Solids and Structures,2005,42(8):2287-2301.
[26]Chen Y,You Z.On mobile assemblies of Bennett linkages[J].Proceedings Mathematical Physical and Engineering Sciences,2008,464(2093):1275-1293.
[27]Qi X Z,Deng Z Q,Li B,et al.Design and optimization of large deployable mechanism constructed by Myard linkages[J].Ceas Space Journal,2013,5:147-155.
[28]韩博,许允斗,姚建涛,等.剪叉联动式双层环形桁架可展开天线机构设计与分析[J].载人航天,2017,23(3):306-310.[Han Bo,Xu Yun-dou,Yao Jian-tao,et al.Design and analysis of scissors linkage double ring truss deployable antenna mechanism[J].Manned Spaceflight,2017,23(3):306-310.]
[29]Deng Z Q,Huang H L,Li B,et al.Synthesis of deployable/foldable single loop mechanisms with revolute joints[J].Journal of Mechanisms and Robotics,2011,3(3):031006.
[30]Xu Y D,Chen L L,Liu W L,et al.Type synthesis of the deployable mechanisms for the truss antenna using the method of adding constraint chains[J].Journal of Mechanisms and Robotics,2018,10(4):041002.
[31]Wang Y,Deng Z Q,Liu R Q,et al.Topology structure synthesis and analysis of spatial pyramid deployable truss structures for satellite SAR antenna[J].Chinese Journal of Mechanical Engineering,2014,27(4):683-692.
[32]Warnnar D B,Chew M.Kinematic synthesis of deployablefoldable truss structures using graph theory,part 2:generation of deployable truss module design concepts[J].Journal of Mechanical Design,1995,117(1):117-122.
[33]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,2006:326-368.