中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (4): 146-157.doi: 10.16708/j.cnki.1000-758X.2022.0061

• 可展开空间结构专栏 • 上一篇    

厚板三浦折展机构的几何设计与运动分析

畅博彦，徐鑫，梁栋*，张浩楠   

  1. 1天津工业大学 机械工程学院，天津 300387 
    2天津工业大学 天津市现代机电装备技术重点实验室，天津 300387
  • 出版日期:2022-08-25 发布日期:2022-08-09

Geometric design and motion analysis of Miura-Ori mechanism with thick panels

CHANG Boyan，XU Xin，LIANG Dong*，ZHANG Haonan   

  1. 1School of Mechanical Engineering，Tianjin University，Tianjin 300387，China 
    2Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology，Tianjin 300387，China
  • Published:2022-08-25 Online:2022-08-09

PDF (PC)

290

摘要： 空间折展机构与一般运动机构不同，其对构件的几何形貌有着严格的要求。基于厚板折纸理论构造出两种三浦厚板折展单元——Bennett机构单元和球面四杆机构单元，在保证机构可以从展开状态运动到收拢状态且不发生物理干涉的前提下，以折展单元可无限次叠加组网为设计目标，分析构件几何参数应满足的约束条件，阐述模块化组成大尺度厚板三浦折展机构的原理和过程，提出Bennett组网和混合组网两种模块扩展方式。通过建立Bennett扩展模块和球面扩展模块的运动学模型，验证两种厚板三浦折展机构的运动等价关系。研究不同几何参数对机构折展率的影响规律，提出一种根据给定折展率要求对机构进行优化设计的方法，为厚板三浦折展机构的运动特性分析和几何参数优化奠定了理论基础。

关键词: 折展机构, 厚板折纸, Bennett机构, 球面机构, 折展率, 优化设计

Abstract: Different from the general motion mechanism，the space deployable mechanism is strict with the geometry shape and dimensions of components.Based on the origami theory of thick panels，two kinds of Miura-Ori deployable unit（Bennett unit and spherical 4R unit）were obtained for accommodating material thickness to avoid physical interference.The flat-foldable condition for achieving the compact folding and maximum expansion as well as the requirement of constructing large space deployable mechanism with infinite number of units were considered to deduce components geometry constraints.The process to constructing large deployable Miura-Ori mechanism was explained and corresponding two typical network systems which can maintain the kinematic properties of the origami mechanism were established.Finally，the influence regularity of various factors on folding ratio was analyzed and a general approach for optimum design of Miura-Ori mechanism with thick panels was proposed which can provide reference for practical engineering application of this kind of mechanism.

Key words: deployable mechanism, thick-panel origami, Bennett mechanism, spherical mechanism, folding ratio, optimum design