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针对机器人、空间结构等领域的应用,给出了一种三棱柱剪式可展结构的构型设计、传动方案设计及零部件详细设计。建立了考虑节点5个自由度的剪式铰单元有限元模型,对其刚度矩阵和质量矩阵进行了有效缩聚,减少了计算量;把剪式铰单元作为重复的子结构,建立了三棱柱剪式可展结构的有限元模型及其振动方程;在此基础上进行模态分析和仿真,得到前8阶固有频率及相应的振型曲线;并给出了三棱柱剪式可展结构的1阶固有频率随展开角的变化关系,为三棱柱剪式可展结构的优化设计和控制提供了依据。
Aimed at the applications of robots and space structures, the configuration design of a three-prism scissor-type extensible structure, the transmission scheme design and the detailed design of the components are given. The finite element model of shear hinge unit considering five degrees of freedom of nodes is established, and its stiffness matrix and mass matrix are effectively polycondensated to reduce the amount of calculation. The shear hinge unit is used as a repeated sub-structure to establish the triangular prism shear The finite element model and its vibration equation of the expansible structure are established. On this basis, modal analysis and simulation are carried out to obtain the first 8 natural frequencies and the corresponding mode shapes curves. The relationship between the natural frequency and the unfolding angle of the order provides the basis for the optimal design and control of the triangular prism scissor structure.