CN103107407A - Annular series foldable mechanism configuration design method - Google Patents

Abstract

The invention discloses an annular series foldable mechanism configuration design method. Based on geometrical features of the annular series foldable mechanism, a regular triangle foldable mechanism, a square foldable mechanism, a regular pentagon foldable mechanism and a regular hexagon foldable mechanism are put forward. When the foldable mechanisms are fully unfolded, a regular triangle, a square, a regular pentagon and a regular hexagon are displayed. When the foldable mechanisms are fully contracted, each foldable mechanism can be divided into four configurations according to the known parameters. The annular series foldable mechanism configuration design method is simple in principle, high in reliability, few in components, easy to process and assemble, stable in folding process, small in impact, easy to control due to the fact that the whole system only has one degree of freedom, and is applied to space large-scale foldable antenna of satellite antenna folding system and other foldable structures in a large scale such as handwork and building materials.

Description

A kind of configuration designing method of annular series development agency

Technical field

The present invention relates to a kind of method for designing of development agency member, specifically, relate to a kind of configuration designing method of annular series development agency, belong to the structural design field.

Background technology

Along with the development of space technology and informationization technology, spaceborne deployable antenna is widely used on the multiple types satellites such as geostationary orbit communication and navigation satellite, space exploration satellite, reconnaissance spacecraft, and developed country competitively researches and develops this technology.Along with the development of the space technologies such as the observation of China's mobile communication, the earth and deep space probing, in the urgent need to the large shrink space antenna of research and development to improve its transmission bandwidth, signal gain and simplification ground receiving wastewater facility.But effectively deliver the restriction of space, delivery power due to rocket, require antenna to be fixed in the delivery vehicle payload bay with rugosity at launching phase, after the spacecraft injection, it is progressively completed by designing requirement at space orbit and launches action by the ground control centre instruction again, locks rear and remains operating state.The expansion contracting mechanism of antenna has become a notable feature of Aerospace Satellite antenna.Can open up ring-type truss antenna is to use at present more a kind of large space antenna, and can open up ring-type truss antenna is rounding state when emission, is positioned at the payload bay of satellite, launches by instruction sequences in the outer space after lift-off.Its expansion process was mainly for two steps: the first step, and the antenna reflector structure remains under rounding state,, and launches in assigned address around from celestial body motion with support arm, and this process is shorter, can complete in several minutes; Second step, the up and down two ends release of antenna reflector structure, then under the driving of development mechanism, annular truss is carried out and is launched motion, until expand into operating state and locking fully, this process is launched comparatively slow, the time is longer.The complexity of satellite antenna development mechanism structure and the degree of freedom of development agency have material impact for satellite antenna development system performance quality.Be used at present the array element mechanism more complicated of satellite antenna development system, the various sizes number is more, makes its error accumulation, and precision reduces.

Summary of the invention

For fear of the deficiency that prior art exists, overcome its system configuration complicated, precision of expansion is low, the problem that error accumulation is large, the present invention proposes a kind of configuration designing method of annular series development agency, and its principle is simple, and reliability is high; Form the series of annular development agency, expansion process is steady, impacts littlely, and front and back only have one degree of freedom, are easy to control.

The configuration designing method of a kind of annular series development agency of the present invention is characterized in comprising the following steps:

Step 1: determine the configuration structure, determine the span of radius according to the configuration structure;

By determining that radius is the circle of R, as the circumscribed circle of regular polygon, determine that radius R is the radial development full-size of development agency;

Step 2: make this circle Along ent according to the circumscribed circle model, make n Along ent on circumscribed circle, (n 〉=3);

Step 3: according to the Along ent of making on circumscribed circle, connect in turn each Along ent and form positive n limit shape;

Step 4: centered by the center of circle of circumscribed circle, vertical line is made on each limit of the positive n limit shape that forms to each Along ent;

Step 5: generate pin joint, cross respectively the limit of regular polygon and vertical line thereof and make to be parallel to the center of this regular polygon and the parallel lines of summit institute line section, and be required pin joint with limit and the crossing formed intersection point of vertical line thereof of regular polygon, point on each vertical line equates to the central point connected line segment length of regular polygon, be a, symbiosis becomes 3n pin joint thus;

Step 6: with the development agency hypostazation, according to the layering demand, boss is set in the hinged place of connecting rod and connecting rod and carries out the layering processing;

Each connecting rod Relations Among:

(1) angle between each connecting rod on center rod is α=2 π/n;

(2) the vertical line length of connecting rod on the intermediate connecting rod that is hinged with center rod is b=Rcos (α/2)-a;

(3) the sideline length of connecting rod on the intermediate connecting rod that is hinged with center rod is c=2btan (α/2);

(4) length of connecting rod that is hinged on summit connecting rod and intermediate connecting rod is d=Rsin (α/2)-0.5c;

Wherein: R is radius of a circle, and n is the limit number of regular polygon development agency, each length of connecting rod on connecting rod centered by a;

Step 7: under the various sizes condition of above-mentioned design, can draw

On the summit connecting rod of the regular polygon that the regular polygon development agency forms, the radial development on summit contraction size compares i ₁The ratio i of the size that the regular polygon development agency launches fully and complete holosystolic size ₂

That is:

(1) when a＜b, $i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ $i_2=R/\sqrt{{(b-a)}^2+c^2/4};$

(2) work as a〉b, and $a>\sqrt{{(b-a)}^2+c^2/4}$ The time,

$i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ i ₂=R/a；

(3) work as a〉b, and $a<\sqrt{{(b-a)}^2+c^2/4}$ The time,

$i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ $i_2=R/\sqrt{{(b-a)}^2+c^2/4};$

(4) when a=b, i ₁=+∞, i ₂=2/sin (α/2).

Beneficial effect

The configuration designing method of a kind of annular series development agency of the present invention has proposed equilateral triangle development agency, square development agency, regular pentagon development agency and regular hexagon development agency take its geometrical property as the basis.Be rendered as respectively equilateral triangle, square, regular pentagon and regular hexagon when development agency launches fully, each development agency can be divided into four kinds of configurations according to wherein known parameters again when shrinking fully.This series development agency principle is simple, and reliability is high; It is few that structure forms Component Category, is easy to process and assemble; Expansion process is steady, impacts littlely, and whole system only has one degree of freedom, is easy to control.The configuration of the formed annular series development agency of method for designing of the present invention is applicable in the space deployable antenna of satellite antenna development system; Also can be applicable to other various need in structure that large tracts of land launch to shrink, as handicraft and building materials truss aspect.

Description of drawings

Be described in further detail below in conjunction with the configuration designing method of the drawings and specific embodiments to a kind of annular series development agency of the present invention.

Fig. 1 is the connection diagram between each member of configuration of annular series development agency.

Schematic diagram when Fig. 2 launches fully for the equilateral triangle development agency when a＜b.

Schematic diagram when Fig. 3 shrinks fully for the equilateral triangle development agency when a＜b.

Fig. 4 is for working as a〉b, and

The time the schematic diagram of equilateral triangle development agency when launching fully.

Fig. 5 is for working as a〉b, and

The time the schematic diagram of equilateral triangle development agency when shrinking fully.

Schematic diagram when Fig. 6 launches fully for the square development agency when a＜b.

Schematic diagram when Fig. 7 shrinks fully for the square development agency when a＜b.

Fig. 8 is for working as a〉b, and

The time the schematic diagram of square development agency when launching fully.

Fig. 9 is for working as a〉b, and The time the schematic diagram of square development agency when shrinking fully.

Schematic diagram when Figure 10 launches fully for the regular pentagon development agency when a＜b.

Schematic diagram when Figure 11 shrinks fully for the regular pentagon development agency when a＜b.

Figure 12 is for working as a〉b, and

The time the schematic diagram of regular pentagon development agency when launching fully.

Figure 13 is for working as a〉b, and

The time the schematic diagram of regular pentagon development agency when shrinking fully.

Schematic diagram when Figure 14 launches fully for the regular hexagon development agency when a＜b.

Schematic diagram when Figure 15 shrinks fully for the regular hexagon development agency when a＜b.

Figure 16 is for working as a〉b, and

The time the schematic diagram of regular hexagon development agency when launching fully.

Figure 17 is for working as a〉b, and

The time the schematic diagram of regular hexagon development agency when shrinking fully.

In figure:

A. each length of connecting rod on connecting rod centered by,

B. be the vertical line length of connecting rod on the intermediate connecting rod that is hinged with center rod,

C. be the sideline length of connecting rod on the intermediate connecting rod that is hinged with center rod,

D. on the connecting rod of summit with intermediate connecting rod on the length of connecting rod that is hinged of sideline connecting rod,

R. be radius of a circle,

α. centered by angle between each connecting rod on connecting rod.

Embodiment

The present embodiment is a kind of configuration designing method of annular series development agency.

Consult Fig. 1-Figure 17, the configuration designing method of annular series development agency of the present invention has proposed equilateral triangle development agency, square development agency, regular pentagon development agency and regular hexagon development agency take its geometrical property as the basis.Be rendered as respectively equilateral triangle, square, regular pentagon, regular hexagon when development agency launches fully, each development agency can be divided into four kinds of configurations according to wherein known parameters again when shrinking fully.The below is further described connected mode between each member of annular series development agency:

(1) determine the configuration structure, determine the span of radius according to the configuration structure;

By determining that radius is the circle (chain-dotted line) of R, as the circumscribed circle of regular polygon, determine that radius R is the radial development full-size of development agency;

(2) make this circle Along ent according to the circumscribed circle model, make n Along ent (n is more than or equal to 3) on circumscribed circle;

(3) according to the Along ent of making on circumscribed circle, connect in turn each Along ent and form positive n limit shape (solid line);

(4) centered by the center of circle of circumscribed circle, vertical line (solid line) is made on each limit of the positive n limit shape that forms to each Along ent;

(5) generate pin joint, namely, cross respectively limit and the vertical line thereof of regular polygon and make to be parallel to the center of this regular polygon and the parallel lines (dotted line) of summit institute's line section (dotted line), and be required pin joint with limit and the crossing formed intersection point of vertical line thereof of regular polygon, but guarantee that the point on each vertical line is equal to the central point connected line segment length of regular polygon, be a, symbiosis becomes 3n pin joint thus.

The operation principle of the formed annular series development agency of the inventive method:

Above-mentioned all solid lines that generate substitute with connecting rod, and the pin joint that generates substitutes take rotary motion pair can form the regular polygon development agency of the degree of freedom as 1.Take the center rod member of regular polygon development agency as frame, any one connecting rod that is hinged with it is that actuator rotatablely moves, and development agency can be realized launching and be drawn motion in.When the angle theta of the connecting rod hinged with it of the connecting rod on frame satisfied θ=0, development agency drew in fully; When the angle theta of the connecting rod hinged with it of the connecting rod on frame satisfied θ=180 °, development agency launched fully.Development agency is complete contraction state in transportation, storage in the time of idle, when development agency need to launch, can organize work according to its operation principle.

The formed annular series development agency of the inventive method degree of freedom is 1, is rotary freedom, therefore can use miniature motor to drive control as power source.

The shrinkage ratio of annular series development agency:

The shrinkage ratio of the development agency that the formed annular series development agency of the inventive method is related has two kinds, and one is that the radial development on summit on the summit connecting rod of the formed regular polygon of regular polygon development agency is shunk size and compared i ₁The size that another launches fully for the regular polygon development agency and the ratio i of complete holosystolic size ₂

Can get as calculated:

(1) when a＜b, $i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ $i_2=R/\sqrt{{(b-a)}^2+c^2/4};$

(2) work as a〉b, and $a>\sqrt{{(b-a)}^2+c^2/4}$ The time, $i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ i ₂=R/a；

(3) work as a〉b, and $a<\sqrt{{(b-a)}^2+c^2/4}$ The time,

$i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ $i_2=R/\sqrt{{(b-a)}^2+c^2/4};$

(4) when a=b, i ₁=+∞, i ₂=2/sin (α/2).

Parameter in the above results is fully as follows with known parameters expression acquired results:

(1) when a＜0.5Rcos (during π/n),

$i_1=R/\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-2a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2};$

$i_2=R/\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2};$

(2) work as a〉0.5Rcos (π/n), and $a>\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2}$ The time,

$i_1=R/\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-2a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2};$

i ₂=R/a；

(3) work as a〉0.5Rcos (π/n), and $a<\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2}$ The time,

$i_1=R/\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-2a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2};$

$i_2=R/\sqrt{{(R\&CenterDot;\cos (\mathrm{\&pi;}/n)-2a)}^2+{(R\&CenterDot;\sin (\mathrm{\&pi;}/n)-a\&CenterDot;\tan (\mathrm{\&pi;}/n))}^2};$

(4) when a=0.5Rcos (during π/n), i ₁=+∞, i ₂=2/sin (α/2).

The length a that finally can be fully counts n and regular polygon development agency center rod by the limit of the radius R of the circumscribed circle of regular polygon and regular polygon due to the shrinkage ratio i of above-mentioned development agency determines, so give regularly when one of them parameter, the shrinkage ratio i of development agency can be determined by other two parameters.Can select voluntarily according to actual needs during application.

Exemplary application:

The configuration designing method of annular series development agency of the present invention forms the regular polygon development agency of series, both can be applicable in the Aerospace Satellite Large deployable antenna, also can be applicable to other various need in structure that large tracts of land launch to shrink, as handicraft and building materials aspects.

Claims (1)

1. the configuration designing method of an annular series development agency is characterized in that comprising the following steps:

Step 1: determine the configuration structure, determine the span of radius according to the configuration structure;

By determining that radius is the circle of R, as the circumscribed circle of regular polygon, determine that radius R is the radial development full-size of development agency;

Step 2: make this circle Along ent according to the circumscribed circle model, make n Along ent on circumscribed circle, (n 〉=3);

Step 3: according to the Along ent of making on circumscribed circle, connect in turn each Along ent and form positive n limit shape;

Step 4: centered by the center of circle of circumscribed circle, vertical line is made on each limit of the positive n limit shape that forms to each Along ent;

Step 5: generate pin joint, cross respectively the limit of regular polygon and vertical line thereof and make to be parallel to the center of this regular polygon and the parallel lines of summit institute line section, and be required pin joint with limit and the crossing formed intersection point of vertical line thereof of regular polygon, point on each vertical line equates to the central point connected line segment length of regular polygon, be a, symbiosis becomes 3n pin joint thus;

Step 6: with the development agency hypostazation, according to the layering demand, boss is set in the hinged place of connecting rod and connecting rod and carries out the layering processing;

Each connecting rod Relations Among:

(1) angle between each connecting rod on center rod is α=2 π/n;

(2) the vertical line length of connecting rod on the intermediate connecting rod that is hinged with center rod is b=Rcos (α/2)-a;

(3) the sideline length of connecting rod on the intermediate connecting rod that is hinged with center rod is c=2btan (α/2);

(4) length of connecting rod that is hinged on summit connecting rod and intermediate connecting rod is d=Rsin (α/2)-0.5c;

Wherein: R is radius of a circle, and n is the limit number of regular polygon development agency, each length of connecting rod on connecting rod centered by a;

Step 7: under the various sizes condition of above-mentioned design, can draw on the summit connecting rod of the regular polygon that the regular polygon development agency forms the radial development on summit and shrink size and compare i ₁The ratio i of the size that the regular polygon development agency launches fully and complete holosystolic size ₂

That is:

(1) when a＜b, $i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ $i_2=R/\sqrt{{(b-a)}^2+c^2/4};$

(2) work as a〉b, and $a>\sqrt{{(b-a)}^2+c^2/4}$ The time,

$i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ i ₂=R/a；

(3) work as a〉b, and $a<\sqrt{{(b-a)}^2+c^2/4}$ The time,

$i_1=R/\sqrt{{(b-a)}^2+{(0.5c-d)}^2},$ $i_2=R/\sqrt{{(b-a)}^2+c^2/4};$ (4) when a=b, i ₁=+∞, i ₂=2/sin (α/2).

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