一种空间模块化桁架式展开机构及其运动过程分析

A Spatial Modularized Truss Deployable Mechanism and Motion Process Analysis

为设计一种折叠率高的新型空间桁架式展开机构并分析其运动过程,提出了由两个四棱锥对称布置组成的空间2自由度模块化可展单元。首先,阐述了空间桁架式展开机构的模块化组成原理。其次,根据机构顺利折叠条件推导了构件的几何协调方程。最后,根据展开过程的动作特征,将空间桁架式展开机构简化为平面机构并计算自由度,基于闭环矢量法对机构进行运动学分析。

In order to design a new spatial truss deployable mechanism with high folding rate and analyze its unfolding motion,2-DOF modularized deployable mechanism unit constituted from two rectangular pyramids arranged symmetrically is proposed.Firstly,modularized principle of truss deployable mechanism is explained.Secondly,according to folding conditions during the motion,the geometric coordination equations are derived.Finally,the deployable mechanism is simplified to a planar mechanism based on its kinematic characteristic,and its freedom of degree is computed and kinematics equations are established based on closed loop vector.