空间伸展臂折展单元展开运动特性分析

Deployable Kinematic Characteristics Analysis on Fold-Unfolded Units of Space Deployable Mast

基于对国内外空间伸展臂机构研究状况分析,提出一种四棱柱型剪叉式空间伸展臂。在分析伸展臂工作原理的基础上,确定折展单元(剪叉单元)的构型特征,并基于螺旋理论求解伸展臂折展单元运动度,验证四棱柱型剪叉式空间伸展臂的运动单一性和折展稳定性。据此,分析空间伸展臂折展单元的几何特性,获得折展单元轴向展开运动规律线图,并利用所研制的原理装置在低重力模拟环境下完成伸展臂展开性能和重复展开精度测试,结果表明四棱柱型剪叉式空间伸展臂满足空间折展机构的功能需求。

Based on the research status analysis of space deployable masts in the domestic and overseas, a new kind of quadrangular scissor-like space deployable mast is proposed. By analyzing the workingprinciple of the mast, the configuration characteristic of its fold-unfolded unit（scissor unit） is eanfirmed, the movement degree of its fold-unfolded unit is solved by the screw theory,and the movement unicity and deployable stability of the mast are provera Accordingly, the geometric property of foldunfolded unit on the mast is analyzed, the axial deployable movement chart of fold-unfolded unit is obtained,the deployable performance and multi-deployable precision test are done by using the developed princzple prototype of the mast in low gravity simulating environment, whose results show that the mast can meet the functional requirement of space deployable mechanism.