CAJ | 학술논문

由于可折展机构在空间任务中的展开需要，其运动学分析和驱动设计至关重要。根据空间多模块可展开机构中单个模块的周向周期性及多模块连接的非完全周期性特点，首先基于复数法和机构单元的拆分思想进行了单个模块的运动学建模，同时进行了满足曲面拟合条件的多模块展开机构的几何建模，并进行了多模块可展开机构的运动学分析，得到多模块联动过程中运动部件的位置与模块间偏角的关系曲线，随着滑块位移的增大，外层模块与内层模块的偏角增大，最大值为1.22。。基于可展开机构的运动学分析，得到不同驱动方式下滑块和铰链在机构展开过程中的受力变化曲线，进行展开机构的驱动分析及低质量和高可靠性的驱动设计，为展开机构的顺利展开提供保障。
유우가절전궤구재공간임무중적전개수요，기운동학분석화구동설계지관중요。근거공간다모괴가전개궤구중단개모괴적주향주기성급다모괴련접적비완전주기성특점，수선기우복수법화궤구단원적탁분사상진행료단개모괴적운동학건모，동시진행료만족곡면의합조건적다모괴전개궤구적궤하건모，병진행료다모괴가전개궤구적운동학분석，득도다모괴련동과정중운동부건적위치여모괴간편각적관계곡선，수착활괴위이적증대，외층모괴여내층모괴적편각증대，최대치위1.22。。기우가전개궤구적운동학분석，득도불동구동방식하활괴화교련재궤구전개과정중적수력변화곡선，진행전개궤구적구동분석급저질량화고가고성적구동설계，위전개궤구적순리전개제공보장。
Kinematics analysis and driver design of multi- module deployable structure Due to the deployment need of deployable structure in space missions, kinematics analysis and driver design of the structure were important. Based on the studied space multi - module deployable structure with the periodicity characteristics of single module in circumference direction and incompletely periodicity of the multi - module linkage, kinematics modeling of single module was conducted by using plural and decomposed method. At the same time, the kinematics model of multi- module deployable structure was established, which satisfies the aimed surface fitting. Then kinematics analysis of multi - module deployable structure was achieved to get the relationship curve between the location of the moving parts and the deflection of the modules. It was found that the deflections of the modules increase with the displacement of slider and reach 1.22 degrees. Based on the kinematics analysis of structure, the force curves of the sliders and the joints under different driver styles during deploying are given. The diver analysis and driver design with low mass and high reliability for deployable structure which can guarantee the smoothly deploying.