介绍了展开/折叠式结构的设计过程,分3阶段:设计阶段、模型阶段和优化阶段,每一阶段均有相应的控制指标。由此设计出一种三棱柱伸展臂,该伸展臂由三棱柱模块叠加而成,通过电机驱动滑块进行展开/折叠运动。对伸展臂的运动机理进行了分析,最后经过优化阶段,最终确定了杆件的直径和节点形式。实验室模型表明,该伸展臂具有驱动简单,杆件类型少,制造方便的优点。 The design process of unfolding / folding structure is introduced in three stages: design stage, model stage and optimization stage, with corresponding control indexes in each stage. Thus, a triangular prism extension arm is designed. The extension arm is formed by the stacking of the triangular prism modules, and the motor drives the slider to perform the unfolding / folding motion. The movement mechanism of the extension arm is analyzed. Finally, after the optimization stage, the diameter and node form of the rod are finally determined. The laboratory model shows that the extension arm has the advantages of simple driving, fewer types of rods and easy manufacture.