双层环形桁架可展天线机构运动特性与动力学分析

doi:10.3969/j.issn.1000-1093.2020.04.020

摘要/Abstract

摘要： 为改善单层环形桁架式可展天线在大口径时刚度较低的问题，设计一种双层环形桁架可展机构，作为大口径星载天线的支撑与展开机构。对双层环形桁架可展天线进行结构分解，绘制闭环可展机构单元的旋量约束拓扑图，分析机构自由度，得出双层环形桁架可展机构只有一个自由度；基于螺旋理论分析各个构件的旋量速度，通过矢量运算得到各个构件的角速度和质心线速度，并得到速度雅可比矩阵；利用旋量导数分析机构中各个构件的旋量加速度，计算得到各个构件的角加速度和质心线加速度；基于牛顿-欧拉方程和虚功原理，建立整体双层环形桁架可展机构的动力学方程，进行数值计算与仿真验证。研究结果表明：计算和仿真结果验证了理论分析的正确性；所提双层环形桁架可展天线机构整体结构简单，仅需一个驱动便可顺利展开；基于螺旋理论的运动学和动力学分析方法具有明确的物理意义，且分析过程较为程式化，易于编程。

关键词: 可展天线, 双层环形桁架, 螺旋理论, 自由度, 运动特性, 动力学分析

Abstract: A double-ring truss deployable antenna mechanism, which is used as the support and deployment mechanism for large-diameter space-borne antenna, is proposed to improve the stiffness of the single-ring truss deployable antenna with large diameter. The structural decomposition of double-ring truss deployable antenna mechanism is conducted, the screw constraint topology graph of the closed-loop deployable mechanism unit is drawn, and the degree of freedom (DOF) of the mechanism is analyzed. The analyzed result shows that the double-ring truss deployable mechanism has only one DOF. The screw velocity of each component in the mechanism is analyzed based on screw theory, the angular velocity and centroid linear velocity of each component are obtained through vector operation, and the Jacobian matrixes are also obtained. Furthermore, the screw accelerations of the components in the mechanism are derived based on the screw derivative, and the angular acceleration and centroid linear acceleration of each component in the double-ring truss mechanism are obtained. A dynamic model of the double-ring truss mechanism is established based on Newton-Euler equation and virtual work principle, and the numerical calculation and simulation verification are carried out. The research results show that the theoretical analysis is correct. The proposed double-ring truss deployable antenna mechanism has a simple structure, and can be smoothly deployed with only one input drive, the kinematic and dynamic analysis method based on screw theory used in this paper has a clear physical meaning, the analysis process is relatively stylized and is easy to program.Key

Key words: deployableantenna, double-ringtruss, screwtheory, degreeoffreedom, kinematicscharacteristic, dynamicsanalysis

中图分类号:

V423.4⁺5

韩博，许允斗，姚建涛，郑东，李永杰，赵永生. 双层环形桁架可展天线机构运动特性与动力学分析[J]. 兵工学报, 2020, 41(4): 810-821.

HAN Bo， XU Yundou， YAO Jiantao， ZHENG Dong， LI Yongjie， ZHAO Yongsheng. Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism[J]. Acta Armamentarii, 2020, 41(4): 810-821.

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第41卷第4期2020 年4月
兵工学报ACTA ARMAMENTARII
Vol.41No.4Apr.2020

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