基于多层多环耦合空间连杆单元的新型伞状可展机构的构型综合与刚度性能研究

Deployable mechanisms are the main "skeleton" of much major high-end equipment such as space stations, space folding antennas, communication satellite platforms, space extension arms and space solar arrays. With the rapid development of space activities in our country, the demand for deployable mechanisms with characteristics of large-scale, high-precision, high-rigidity, high-stability and lightweight has been becoming more and more urgent. The umbrella-liked shape is one of the most classic shapes of deployable mechanisms, and the traditional umbrella-shaped deployable mechanisms mainly concentrated on rib support linkages with lower rigidity. So far, there are relatively few linkage units that can be used to construct high-stiffness umbrella-shaped deployable mechanisms, and a systematic theory is lacking for innovative design of the class of deployable mechanisms. The project intends to investigate the theory of type synthesis of novel high-stiffness umbrella-shaped deployable mechanisms based on multi-layer and multi-loop coupling spatial linkage units, and to further study the methods for stiffness performance analysis of such mechanisms. First of all, type synthesis of new multi-layer multi-loop coupling spatial deployable linkage units is studied. Second, mobile assembly methods of the new deployable units to construct umbrella-shaped deployable mechanisms, and networking methods of large-scale deployable mechanisms is studied. Finally, the method for stiffness analysis of novel umbrella-shaped deployable mechanisms and the optimal selection of new high-stiffness mechanisms are studied. The research of this project will expand the design theory of space mechanisms and lay a theoretical foundation for the development of deployable equipment with independent intellectual property rights.

可展机构是空间站、太空折展天线、通信卫星平台、空间伸展臂、太空太阳能帆板等许多重大高端装备的主体“骨架”。随着我国太空活动的迅猛发展，对大尺度、高精度、高刚度、高稳定性、轻量化的可展机构的需求越来越迫切。伞状是可展机构最经典外形之一，传统的伞状可展机构主要是刚度较低的肋式支撑连杆机构。到目前为止，可用来构建高刚度伞状可展机构的连杆单元还相对较少，还缺乏系统的理论对这类可展机构进行创新设计。本项目拟研究基于多层多环耦合空间连杆新单元的新型高刚度伞状可展机构的构型综合理论，进一步研究这类机构的刚度性能分析方法。首先，研究多层多环耦合空间可展连杆新型单元的构型综合。其次，研究可展单元构建伞状可展机构的可动组装方式以及大尺度可展机构的组网方法。最后，研究新型伞状可展机构刚度性能分析方法及刚性优良的新机型优选。本项目的研究将拓展空间机构学的设计理论，为研制具有自主知识产权的伞状可展装备奠定理论基础。

可展机构是一类能够呈现折叠状态和展开状态的机构。可展机构在航空航天、太阳能、气象观测、大型建筑、国防军事等领域的高端装备中发挥着重要作用，如折展太阳能电池板，空间站基础骨架，空间伸展臂，大口径折展天线等。近年来，随着太空探索、对地观测、海洋勘探和军事侦察等空间活动的迅猛发展及未来复杂太空任务的需求，对大尺度，高精度，高刚度，高稳定性、轻量化的空间折展装备的需求越来越迫切。. 本项目在空间多层多环伞状可展机构的构型综合方面取得了重要进展。我们提出了空间多层多环面对称可展单元的自由度分析一般性方法，基于该自由度分析方法和单元的面对称特性遍历了各种空间多层多环可展单元的拓扑结构形式。进一步基于模块组合法，设计出了大量新型空间多层多环可展单元。建立了新型可展开单元构建大型伞状可展机构的三种组网方式。最后基于新可展开单元和组网方式综合出了许多复杂的多层多环新型伞形可展机构。.面向我国对大型卫星可展天线的重大需求，结合我们之前在可展机构的研究基础，新设计出了大型双层环形卫星可展天线机构和大型径向合成雷达卫星可展天线机构。. 我们建立了伞状可展机构的运动学以及考虑重力和外负载力条件下多环耦合机构的刚度模型。设计了针对电子产品的装配应用场景设计出了新型三分支六自由度高速并联机器人机构，以及针对腹腔镜手术应用场景设计出了新型的无奇异位形的二自由度并联远心运动手术机器人机构。. 在机构学领域国际顶级期刊发表SCI论文8篇，机械工程学报上发表EI论文1篇，以本项目主持人为第一发明人申报专利6项，圆满完成了原计划目标。.本项目的研究在广度和深度上极大地扩展了空间多环耦合机构的设计理论，综合出的新机构在空间探索具有潜在应用价值。