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Research Papers

Type Synthesis of the Deployable Mechanisms for the Truss Antenna Using the Method of Adding Constraint Chains

[+] Author and Article Information
Yundou Xu

Parallel Robot and Mechatronic System
Laboratory of Hebei Province,
Yanshan University,
Qinhuangdao 066004, China;
Key Laboratory of Advanced Forging & Stamping
Technology and Science of Ministry
of National Education,
Yanshan University,
Qinhuangdao 066004, China
e-mail: ydxu@ysu.edu.cn

Liangliang Chen

Parallel Robot and Mechatronic System
Laboratory of Hebei Province,
Yanshan University,
Qinhuangdao 066004, China
e-mail: 1307152110@qq.com

Wenlan Liu

Parallel Robot and Mechatronic System
Laboratory of Hebei Province,
Yanshan University,
Qinhuangdao 066004, China
e-mail: wenlanl@163.com

Jiantao Yao

Parallel Robot and Mechatronic System
Laboratory of Hebei Province,
Yanshan University,
Qinhuangdao 066004, China;
Key Laboratory of Advanced Forging & Stamping
Technology and Science of Ministry
of National Education,
Yanshan University,
Qinhuangdao 066004, China
e-mail: jtyao@ysu.edu.cn

Jialong Zhu

Xi'an Branch of China Academy of Space
Technology,
Xi'an 710100, China
e-mail: 604884686@qq.com

Yongsheng Zhao

Parallel Robot and Mechatronic System
Laboratory of Hebei Province,
Yanshan University,
Qinhuangdao 066004, China;
Key Laboratory of Advanced Forging &
Stamping Technology and Science of Ministry
of National Education,
Yanshan University,
Qinhuangdao 066004, China
e-mail: yszhao@ysu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 19, 2017; final manuscript received February 1, 2018; published online April 11, 2018. Assoc. Editor: Leila Notash.

J. Mechanisms Robotics 10(4), 041002 (Apr 11, 2018) (12 pages) Paper No: JMR-17-1215; doi: 10.1115/1.4039341 History: Received July 19, 2017; Revised February 01, 2018

In the deployable mechanism for a conventional truss antenna, the nodes cannot be adjusted to be uniform in attitude. To solve this problem, a method of adding constraint chains is proposed based on the reciprocal screw theory. By performing type synthesis of the deployable mechanisms for the truss antenna, a novel deployable mechanism is developed that not only enables complete folding and unfolding but also allows the attitude of the nodes to be made uniform. First, according to the unit division of the antenna reflection surface and the characteristic motions of the nodes, constraint chains that can be added between two adjacent nodes are synthesized based on the reciprocal screw theory. Second, to improve the overall rigidity of the mechanism, a series of basic developable unit mechanisms is obtained by adding virtual constraint chains, again based on the reciprocal screw theory. Next, a method of dividing the minimum combination unit of the curved-surface antenna mechanism is proposed. The design of the minimum combination unit mechanism is optimized, such that the attitude of all nodes in the final folded state can be made consistent. Finally, the feasibility of the optimized minimum combination unit mechanism is verified by simulation analysis. The proposed method for type synthesis provides a new approach to the design of deployable mechanisms for truss antennas, and novel deployable mechanisms for the curved-surface truss antenna with better performance are obtained.

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Figures

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Fig. 3

Final folded state of the existing supporting mechanism

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Fig. 2

Application of deployable truss antenna in China (HJ-1-C)

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Fig. 1

In-orbit application of deployable antenna in Russia

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Fig. 4

Schematic diagram of desired motion patterns of the nodes

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Fig. 5

Relative motion of the nodes in the triangular unit

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Fig. 6

Adding a constraint chain between two adjacent nodes

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Fig. 7

Flowchart of process of type synthesis of the constraint chain

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Fig. 11

The deployable unit mechanism 3P-3RRR + 3P

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Fig. 12

The deployable unit mechanism 3P-3RPR + 3P

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Fig. 13

The deployable unit mechanism 3P-3P + 3P

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Fig. 14

The deployable unit mechanism 3P-3RRR + 3RR

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Fig. 18

The minimum combination unit mechanism of the antenna

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Fig. 19

The paraboloid formed by multiple minimum combination unit mechanisms

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Fig. 20

The minimum combination unit mechanism composed of 3RR-3RRR tetrahedral units

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Fig. 21

The final folded state of the 3RR-3RRR tetrahedral deployable unit

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Fig. 22

3R-3RRR mechanism

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Fig. 8

3P-3RRR triangular folding unit mechanism

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Fig. 9

3P-3RPR triangular folding unit mechanism

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Fig. 10

3P-3P triangular folding unit mechanism

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Fig. 15

The deployable unit mechanism 3P-3RPR + 3RR

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Fig. 16

The deployable unit mechanism 3P-3P + 3RR

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Fig. 17

3RR-3RRR tetrahedral deployable unit mechanism

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Fig. 25

The minimum combination unit mechanism 9RR-12 URU

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Fig. 26

Animation model of the minimum combination unit mechanism 9RR-12 URU

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Fig. 27

Fully unfolded state of minimum combination unit mechanism 9RR-12 URU

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Fig. 28

Fully folded state of minimum combination unit mechanism 9RR-12 URU

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Fig. 24

The improved constraint chains: (a) URU chain, (b) PRPU chain, and (c) RSR chain

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Fig. 29

The prototype of the minimum combination unit mechanism 9RR-12 URU: (a) half-folded state and (b) fully folded state

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Fig. 23

The parallel mechanism R-2RRRR

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