多输入多输出高耦合柔性网状并联机构设计研究

The design of the double layer cable net structure of the modular deployable cable net antenna can largely determine the level of the antenna module, its design method is one of the core technologies of onboard modular antenna. Compared with other deployable antennas, the constraint conditions of the structure and the tension design of the modular cable net structure are more highly required, and the research of the surface accuracy analysis is more important. The existing double-layer cable net structure is still applying the approximate method on the design and analysis research therefore it is difficult to accurately establish the model. In order to design modular cable net antenna with a high efficiency, it is required the urgent study on the basic research which is the optimal design of the double-layer cable net structure and the analysis of the surface accuracy. This project by analyzing characteristics and configuration characteristics of double-layer cable net structure, combined with the boundary conditions, put forward the double-layer cable net structure as a multi input multi output coupling of flexible parallel mechanism ideas, using parallel mechanism structure theory and kinematics theory to complete the double-layer cable net structure accurately, and then carry out research on optimization design of double-layer cable net structure and surface accuracy analysis. The research results of this project can not only provide a powerful theoretical support for the design optimization, and surface accuracy analysis as well as the engineering of modular cable net antenna, but also broaden the application field of parallel mechanism theory.

模块化可展索网天线的双层索网结构很大程度上决定了星载模块化天线的水平，其设计方法是星载模块化天线的一项核心技术。与其它可展天线相比，模块化天线索网结构其几何构型和张力设计约束条件更为苛刻，型面精度分析问题尤为突出。现有双层索网结构在设计和分析方法上仍采用近似等效的方法，这些方法难以对其进行精确建模。为设计高性能模块化可展索网天线，亟需对其双层索网结构的优化设计和型面精度分析这一基础问题展开研究。本项目拟通过分析归纳双层索网结构的绳索特点和构型特征，结合其边界约束条件，提出把双层索网结构作为一种多输入多输出高耦合柔性网状并联机构的思路，利用并联机构结构理论及其运动学理论对双层索网结构完成精确建模，进而开展对双层索网结构的优化设计和型面精度分析的研究工作。本项目的研究成果不仅为模块化可展索网天线的设计优化和型面精度分析及其工程化提供有力的理论支撑，而且拓宽了并联机构理论的应用领域。

面向航天领域的空间模块化可展开天线索网结构的优化设计过程中存在的问题，建立了双层索网结构对应的多输入多输出高耦合柔性并联机构，采用并联机构学理论，提出了高耦合柔性并联机构的结构设计和精度分析方法，完成了模块化可展开天线的双层索网结构理论建模和仿真分析；结合理论模型对双层索网结构优化设计；完成试验样机制备安装调试，通过实验样机验证双层索网结构的索网张力优化设计模型可行，并把研究成果应用于某项目产品，验证由于设计、加工以及工作环境变化引起绳索尺寸参数变化而产生的索网机构的型面精度分析理论成果。