Volume 41 Issue 3
May  2019
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HAN Bo, HAN Yuanyuan, XU Yundou, YAO Jiantao, ZHAO Yongsheng. Configuration Design and Mobility Analysis of the Scissors Overconstrained Double-Ring Truss Deployable Antenna Mechanism[J]. ROBOT, 2019, 41(3): 362-371,383. DOI: 10.13973/j.cnki.robot.180531
Citation: HAN Bo, HAN Yuanyuan, XU Yundou, YAO Jiantao, ZHAO Yongsheng. Configuration Design and Mobility Analysis of the Scissors Overconstrained Double-Ring Truss Deployable Antenna Mechanism[J]. ROBOT, 2019, 41(3): 362-371,383. DOI: 10.13973/j.cnki.robot.180531
shu

Configuration Design and Mobility Analysis of the Scissors Overconstrained Double-Ring Truss Deployable Antenna Mechanism

  • 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;

  • 2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004, China;

  • 3. Department of Mathematics and Computer Science, Hengshui University, Hengshui 053000, China

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  • Received Date: August 22, 2018
  • Revised Date: December 16, 2018
  • Available Online: October 26, 2022
    Graphical Abstract
    • Abstract
  • Based on the overconstrained scissors mechanism unit, a scissors overconstrained double-ring truss deployable antenna mechanism is constructed as a support mechanism for the satellite antenna. Firstly, the configuration mechanism and overconstraint characteristics of the scissors overconstrained double-ring truss mechanism are analyzed, and the units of the whole truss mechanism are decomposed. Then, the geometric conditions for the ring structure of the scissors overconstrained double-ring truss mechanism are derived in consideration of the effects of joint size. Furthermore, the screw constraint topology of the decomposed mechanism units is drawn based on the graph theory and screw theory, and the mobilities of the closed-loop deployable mechanism unit and the double-ring truss mechanism are analyzed. The result shows that the mobility of the whole double-ring truss mechanism is the same as that of the closed-loop deployable mechanism, with only one mobility. Finally, a simulation model of the double-ring truss deployable antenna mechanism is built, the deploying process of the whole double-ring truss is simulated, and the deployable feature is verified. The proposed scissors overconstrained double-ring truss deployable antenna mechanism has only one mobility, its kinematic joints are all revolute joints, and the movement form is simple.
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    • References (25)
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