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可展开平板机构已广泛应用于平板天线、太阳翼等航天机构产品。为提高可展开平板机构的刚度和展收比,将空间对称6R机构应用于可展开平板机构设计。首先,根据约束条件,计算后给出了一种空间3R运动链的几何参数关系;然后,结合螺旋理论,分析了该3R运动链的约束螺旋系;进而根据对称性,研究了空间对称6R机构的自由度、奇异性等运动特征;在此基础上,提出了一种特殊的空间对称6R转动机构;最后,研究了空间对称6R机构的组合方法,设计出一种新型单自由度可展开平板组合机构,并对其进行了运动学仿真验证。该可展机构具有二维方向的展开收拢能力,为可展开平板机构的创新设计提供了有益参考。
Expandable flat-panel mechanism has been widely used in flat-panel antennas, solar wings and other space agency products. In order to improve the stiffness and yield of deployable plate mechanism, the space symmetrical 6R mechanism is applied to the expandable plate mechanism design. First of all, according to the constraints, the geometrical parameters of a 3R kinematic chain in space are given after calculation. Then, based on the theory of helix, the constrained spiral system of the 3R kinematic chain is analyzed. Based on the symmetry, the spatial symmetry 6R mechanism Degree of freedom and singularity. On this basis, a special space symmetrical 6R rotating mechanism is proposed. Finally, the combination method of the space symmetric 6R mechanism is studied and a new type of single degree of freedom expandable flat plate Combination of agencies, and its kinematic simulation verification. The expandable mechanism has a two-dimensional direction of the expansion and contraction capacity, expandable flat-panel mechanism for the innovative design provides a useful reference.