超冗余约束对大型航天可展机构的展开性能影响机理及其优化方法研究

Space deployable mechanism is a special type of mechanism designed for solving the contradiction between small storage capability of the transportation rockets and the large dimension of the spacecrafts. Lots of the large space deployable mechanisms are complicated multi-loop lower mobility mechanisms with a lot of redundant constraints, which is easy of deformation, vibration and self-blocking. This project employs the large deployable multi-loop articulated mechanisms as the research object, by using the mathematical tools from rigid displacement of Lie group theory, screw theory and the rigid displacement of differential manifold theory, we aims at revealing the influence mechanism of the ultra-redundant constraints on the multi-module coupling deployment performance of large space deployable mechanisms, propose the reduction and optimization approaches for the redundant constraints, solve the key technological difficulties for the constructions of the large space deployable mechanisms. It will provide the fundamental design methodologies and technological supports for our future major space scientific programs. This research will have important academic significance and practical application values for the actuation difficulty and easy of self-blocking problems of the ultra-redundant constrained mechanisms.

航天可展机构是为解决运载火箭储藏空间狭小与航天器作业尺度越来越大的矛盾而设计的一种特殊机构，这种机构多为多闭环少自由度的复杂超冗余约束机构系统，容易发生变形、震荡与自锁卡死等失效。本项目以铰接式超大尺度多封闭环航天可收展机构为研究对象，基于位移李群理论、螺旋理论与位移流形理论等现代机构学理论，揭示超冗余约束对机构的多模块联动展开性能影响机理，并提出大型可收展机构的抑制性冗余约束的消减方法与增强性冗余约束的优化配置方法，解决超大尺度航天可收展机构的大尺度组网中遇到的关键性技术难题，为我国未来重大航天科技工程的实施提供基础设计理论与技术支持。该项目的研究对解决超冗余机构的难驱动、易自锁等难题具有重要的学术价值和现实应用价值。

航天可展机构是为解决运载火箭储藏空间狭小与航天器作业尺度越来越大的矛盾而设计的一种特殊机构，在航天器本体机构，太阳能电池组，卫星天线与空间机器人领域有着广泛的应用背景。这种机构多为多闭环少自由度的复杂超冗余约束机构系统，容易发生变形、震荡与自锁卡死等失效。本项目以铰接式超大尺度多封闭环航天可收展机构为研究对象，基于位移李群理论、螺旋理论与位移流形理论等现代机构学理论，揭示超冗余约束对机构的多模块联动展开性能影响机理，并提出大型可收展机构的抑制性冗余约束的消减方法与增强性冗余约束的优化配置方法，解决超大尺度航天可收展机构的大尺度组网中遇到的关键性技术难题，为我国未来重大航天科技工程的实施提供基础设计理论与技术支持。该项目的研究对解决超冗余机构的难驱动、易自锁等难题具有重要的学术价值和现实应用价值。