CN106863270A - A kind of unit opened up containing coupling side chain and the development agency based on the unit - Google Patents
A kind of unit opened up containing coupling side chain and the development agency based on the unit Download PDFInfo
- Publication number
- CN106863270A CN106863270A CN201710114291.0A CN201710114291A CN106863270A CN 106863270 A CN106863270 A CN 106863270A CN 201710114291 A CN201710114291 A CN 201710114291A CN 106863270 A CN106863270 A CN 106863270A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- side chain
- coupling side
- axis
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
Abstract
The present invention relates to a kind of unit opened up containing coupling side chain and the development agency based on the cell formation, the structure that can open up unit is arranged symmetrically in minute surface, and each pair intersects in the secondary axis of the symmetrical rotation of minute surface on the plane of symmetry.Multiple can open up unit annular array on same pedestal, and share a rotation pair for connection pedestal, a connecting rod and a halfpace between unit per two neighboring exhibition, so just constitute the space development agency of loop coupling shape more than.Unit of opening up of the invention can open up unit with rigidity and bearing capacity higher than existing monocyclic connecting rod, and then the development agency for building is the characteristics of have high rigidity, high bearing capacity.Development agency of the invention has preferable application prospect in multiple fields such as satellite antenna, solar cell board supporting structure and architectural engineerings.
Description
Technical field
The present invention relates to theory of mechanisms field, it is more particularly to a kind of containing coupling side chain the unit opened up and based on the unit can
Exhibition mechanism.
Background technology
Development agency as space station basic skeleton, the main body frame of space manipulator, heavy caliber deployable antenna branch
Support mechanism, large-sized solar windsurfing support may move truss structure of building etc. in logical Aero-Space, regenerative resource, space
The fields such as exploration, heavy construction, national defense and military play an important role.Recent decades, the design and research of development agency are boats
The topical subject in its field.NASA (NASA), Russian NASA, European Space Agency (ESA), Japanese space science is ground
The Aerospace Science and Technology Corporation for studying carefully institute (ISAS) and Japanese universe cause exploitation group (NASDA) and China is constantly carrying out space flight always
The research of development agency.Current foreign countries such as univ cambridge uk of some universities, Massachusetts Institute Technology, Spain Seville
Building technology research institute, Tel Aviv, Israel university, Tokyo Univ Japan etc. and the Harbin Institute of Technology of China, Tianjin are big
Learn, Beijing Institute of Technology, Tongji University, Zhejiang University, many scholars of BJ University of Aeronautics ＆ Astronautics etc. are carrying out that machine can be opened up
The design and research of structure.
The development agency of early stage is based primarily upon scissors hinge unit to build.In recent years, based on single-degree-of-freedom list closed loop space
The unit opened up of connecting rod causes the concern of many scholars, common are Bennett 4R mechanisms, Myard 5R mechanisms,
Bricard 6R mechanisms etc..Chinese patent CN200380107030.2 presents a kind of based on Bennett 4R linkage units structure
Big development agency.Chinese patent CN102167165A discloses a kind of secondary monocyclic connecting rod of seven rotation and can open up unit and use the list
The space development agency of unit, this unit is more preferable than the ductile of Myard5R linkage unit.
Connecting rod containing coupling side chain of the present invention can open up unit and be structurally different from existing monocyclic connecting rod and can open up
Unit, this to open up that unit is more in bar number and kinematic pair number, the arrangement between motion secondary axis is more complicated, between side chain
The degree of coupling it is higher.The unit opened up containing coupling side chain of the present invention can open up the rigidity of unit and carry energy than monocyclic connecting rod
Li Genggao, is especially suitable for building large-scale development agency.
The content of the invention
Unit can be opened up the present invention relates to the side chain containing coupling with high rigidity and high bearing capacity and based on the unit structure
The development agency built.
Realizing the technical solution adopted by the present invention is：
It is a kind of containing coupling side chain the unit opened up, it include pedestal, first rotate pair, first connecting rod, the first halfpace,
Second rotation pair, second connecting rod, the 3rd rotate pair, third connecting rod, the 4th rotation pair, tail end connecting rod, the 5th rotation pair, the 4th company
Bar, the 6th rotate pair, the 5th connecting rod, the 7th rotation pair, dynamic secondary, the coupling side chain of the second halfpace, six-bar linkage, eighth-turn and turn
Dynamic secondary one, coupling side chain connecting rod one, coupling side chain rotate secondary two, coupling side chain connecting rod two, coupling side chain and rotate secondary three, coupling branch
Chain connecting rod three, coupling side chain rotate secondary four, coupling side chain connecting rod four, coupling side chain and rotate secondary five；Said base, connecting rod, it is secondary and
Platform has following annexation：First connecting rod by first rotate it is secondary be arranged on pedestal, the first halfpace and first connecting rod
It is fixedly connected, second connecting rod rotates pair and is connected with the first halfpace by second, second rotates secondary axis along second connecting rod
Center line, third connecting rod rotates pair and is connected with second connecting rod by the 3rd, and tail end connecting rod rotates secondary and the 3rd company by the 4th
Bar is connected, and fourth link rotates pair and is connected with tail end connecting rod by the 5th, and the 5th connecting rod rotates secondary and fourth link by the 6th
Connection, the second halfpace rotates pair and is connected with the 5th connecting rod by the 7th, and the secondary axis of the 7th rotation is along the 5th connecting rod
Heart line, six-bar linkage one end is fixedly connected with the second halfpace, and the other end is dynamic secondary on pedestal by eighth-turn, coupling
Side chain connecting rod one is connected by coupling side chain rotation secondary with the first halfpace, and coupling side chain connecting rod two-way overcoupling side chain turns
Dynamic secondary two are connected with coupling side chain connecting rod one, couple the axis of side chain rotation secondary two along the center line of coupling side chain connecting rod one, coupling
Close side chain connecting rod threeway overcoupling side chain rotation secondary three to be connected with coupling side chain connecting rod two, the one end of coupling side chain connecting rod four passes through coupling
Close side chain rotation secondary four to be connected with coupling side chain connecting rod three, the other end is by coupling side chain rotation secondary five and the second halfpace company
Connect, coupling side chain rotates the axis of pair four along the center line of coupling side chain connecting rod four；First axis and eighth-turn for rotating pair is moved
Secondary axis intersects in base plane, and the 3rd axis and the secondary axis of the 6th rotation for rotating pair intersects, and the 4th rotates pair
Axis rotates secondary axis and is parallel to each other with the 3rd, and the 5th rotates the secondary axis axis secondary with the 6th rotation is parallel to each other, the
The secondary axis of four rotations and the 5th axis for rotating pair intersect, and couple side chain and rotate secondary one axis and couple side chain rotation secondary five
Axis intersect.
Multiple above-mentioned units of opening up build umbrella development agency as follows：Unit annular array can be opened up in same base
On seat, two adjacent front-and-back units are connected by the six-bar linkage and the second halfpace of previous unit as common elements.This can
The contained quantity for opening up unit is 6-12 in exhibition mechanism, and the pedestal of development agency is regular prism, the bottom surface side number of pedestal with
The quantity that unit can be opened up is consistent.
The advantage of the invention is that：
1st, the unit opened up involved in the present invention can open up unit with rigidity and bearing capacity higher than existing single closed loop,
Rigidity and bearing capacity higher are also had based on such development agency for opening up cell formation.
2nd, development agency involved in the present invention is a kind of umbrella form, is driven simply, is easy to control.
Brief description of the drawings
Fig. 1 is the opened up cellular construction schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the development agency deployed condition schematic diagram of the embodiment of the present invention 2；
Fig. 3 is that the development agency of the embodiment of the present invention 2 launches process schematic；
Fig. 4 is the development agency rounding state schematic diagram of the embodiment of the present invention 2；
Fig. 5 is the opened up cellular construction schematic diagram of the embodiment of the present invention 3；
Fig. 6 is the development agency deployed condition schematic diagram of the embodiment of the present invention 4；
Fig. 7 is that the development agency of the embodiment of the present invention 4 launches process schematic；
Fig. 8 is the development agency rounding state schematic diagram of the embodiment of the present invention 4.
Specific embodiment
For present disclosure, function and feature can be further appreciated that, the present invention is entered with reference to the accompanying drawings and examples
Row is illustrated in detail, and present disclosure is not limited to following examples.
Embodiment 1：
A kind of structure of unit opened up containing coupling side chain of the present embodiment including pedestal FB, first as shown in figure 1, rotate
Secondary R1, first connecting rod L1, the first halfpace MP1, second rotate secondary R2, second connecting rod L2, the 3rd rotation secondary R3, third connecting rod
L3, the 4th rotate secondary R4, tail end connecting rod EP, the 5th rotate secondary R5, fourth link L4, the 6th rotation secondary R6, the 5th connecting rod L5, the
Seven rotate the dynamic secondary R8 of secondary R7, the second halfpace MP2, six-bar linkage L6, eighth-turn, coupling side chain rotates a secondary R9, coupling branch
The L7 of chain connecting rod one, coupling side chain rotate secondary two R10, the L8 of coupling side chain connecting rod two, coupling side chain and rotate secondary three R11, coupling side chain
The L9 of connecting rod three, coupling side chain rotate secondary four R12, the L10 of coupling side chain connecting rod four, coupling side chain and rotate secondary five R13；Said base,
Connecting rod, secondary and platform has following annexation：First connecting rod L1 rotates secondary R1 and is arranged on pedestal FB by first, in the middle of first
Platform MP1 is fixedly connected with first connecting rod L1, and second connecting rod L2 is connected by the second rotation secondary R2 with the first halfpace MP1,
Second rotates the axis of secondary R2 along the center line of second connecting rod L2, and third connecting rod L3 rotates secondary R3 and second connecting rod L2 by the 3rd
Be connected, tail end connecting rod EP by the 4th rotation secondary R4 be connected with third connecting rod L3, fourth link L4 pass through the 5th rotation secondary R5 and
Tail end connecting rod EP is connected, and the 5th connecting rod L5 is connected by the 6th rotation secondary R6 with fourth link L4, and the second halfpace MP2 passes through
7th rotation secondary R7 is connected with the 5th connecting rod L5, and the 7th rotates the axis of secondary R7 along the center line of the 5th connecting rod L5, six-bar linkage
L6 one end is fixedly connected with the second halfpace MP2, and the other end is arranged on pedestal FB by the dynamic secondary R8 of eighth-turn, couples side chain
The L7 of connecting rod one is connected by coupling the secondary R9 of side chain rotation with the first halfpace MP1, and the L8 of coupling side chain connecting rod two is by coupling
Side chain rotates secondary two R10 and is connected with the L7 of coupling side chain connecting rod one, and coupling side chain rotates the axis of secondary two R10 along coupling side chain connecting rod
The center line of one L7, the L9 of coupling side chain connecting rod three is connected by coupling secondary three R11 of side chain rotation with the L8 of coupling side chain connecting rod two, coupling
Close the L10 one end of side chain connecting rod four and be connected with the L9 of coupling side chain connecting rod three by coupling secondary four R12 of side chain rotation, the other end passes through coupling
Close secondary five R13 of side chain rotation to be connected with the second halfpace MP2, coupling side chain rotates the axis of secondary four R12 along coupling side chain company
The center line of the L10 of bar four；The axis of the first dynamic secondary R8 of axis and eighth-turn for rotating secondary R1 intersects in base plane, the 3rd turn
The axis of dynamic secondary R3 and the 6th axis for rotating secondary R6 intersect, the axis phase that the 4th axis for rotating secondary R4 rotates secondary R3 with the 3rd
Mutually parallel, the axis that the axis of the 5th rotation secondary R5 rotates secondary R6 with the 6th is parallel to each other, the axis and the of the 4th rotation secondary R4
Five axis for rotating secondary R5 intersect, and the axis that the axis that coupling side chain rotates a secondary R9 rotates secondary five R13 with coupling side chain intersects.
Embodiment 2：
The present embodiment it is a kind of based on containing coupling side chain the unit opened up development agency structure as shown in figs 2-4,
The unit opened up in multiple embodiments 1 builds this umbrella development agency as follows：Unit annular array can be opened up same
On pedestal FB, between two adjacent front-and-back units, previous unit I is by by its six-bar linkage L6 and the second halfpace
MP2 is connected as front-and-back unit common elements with latter unit II.The contained quantity for opening up unit is 6-12 in this development agency,
And the pedestal FB of development agency is regular prism, the bottom surface side number of pedestal FB is consistent with the quantity that can open up unit.
Embodiment 3：
A kind of structure of unit opened up containing coupling side chain of the present embodiment including pedestal FB, first as shown in figure 5, rotate
Secondary R1, first connecting rod L1, the first halfpace MP1, second rotate secondary R2, second connecting rod L2, the 3rd rotation secondary R3, third connecting rod
L3, the 4th rotate secondary R4, tail end connecting rod EP, the 5th rotate secondary R5, fourth link L4, the 6th rotation secondary R6, the 5th connecting rod L5, the
Seven rotate the dynamic secondary R8 of secondary R7, the second halfpace MP2, six-bar linkage L6, eighth-turn, coupling side chain rotates a secondary R9, coupling branch
The L7 of chain connecting rod one, coupling side chain rotate secondary two R10, the L8 of coupling side chain connecting rod two, coupling side chain and rotate secondary three R11, coupling side chain
The L9 of connecting rod three, coupling side chain rotate secondary four R12, the L10 of coupling side chain connecting rod four, coupling side chain and rotate secondary five R13；Said base,
Connecting rod, secondary and platform has following annexation：First connecting rod L1 rotates secondary R1 and is arranged on pedestal FB by first, in the middle of first
Platform MP1 is fixedly connected with first connecting rod L1, and second connecting rod L2 is connected by the second rotation secondary R2 with the first halfpace MP1,
Second rotates the axis of secondary R2 along the center line of second connecting rod L2, and third connecting rod L3 rotates secondary R3 and second connecting rod L2 by the 3rd
Be connected, tail end connecting rod EP by the 4th rotation secondary R4 be connected with third connecting rod L3, fourth link L4 pass through the 5th rotation secondary R5 and
Tail end connecting rod EP is connected, and the 5th connecting rod L5 is connected by the 6th rotation secondary R6 with fourth link L4, and the second halfpace MP2 passes through
7th rotation secondary R7 is connected with the 5th connecting rod L5, and the 7th rotates the axis of secondary R7 along the center line of the 5th connecting rod L5, six-bar linkage
L6 one end is fixedly connected with the second halfpace MP2, and the other end is arranged on pedestal FB by the dynamic secondary R8 of eighth-turn, couples side chain
The L7 of connecting rod one is connected by coupling the secondary R9 of side chain rotation with the first halfpace MP1, and the L8 of coupling side chain connecting rod two is by coupling
Side chain rotates secondary two R10 and is connected with the L7 of coupling side chain connecting rod one, and coupling side chain rotates the axis of secondary two R10 along coupling side chain connecting rod
The center line of one L7, the L9 of coupling side chain connecting rod three is connected by coupling secondary three R11 of side chain rotation with the L8 of coupling side chain connecting rod two, coupling
Close the L10 one end of side chain connecting rod four and be connected with the L9 of coupling side chain connecting rod three by coupling secondary four R12 of side chain rotation, the other end passes through coupling
Close secondary five R13 of side chain rotation to be connected with the second halfpace MP2, coupling side chain rotates the axis of secondary four R12 along coupling side chain company
The center line of the L10 of bar four；The axis of the first dynamic secondary R8 of axis and eighth-turn for rotating secondary R1 intersects in base plane, the 3rd turn
The axis of dynamic secondary R3 and the 6th axis for rotating secondary R6 intersect, and the axis that the 4th axis for rotating secondary R4 rotates secondary R3 with the 3rd is different
Face, the 5th rotates the axis of secondary R5 and the axis antarafacial of the 6th rotation secondary R6, and the 4th rotates the axis of secondary R4 and the 5th rotates secondary
The axis of R5 intersects, and the axis that the axis that coupling side chain rotates a secondary R9 rotates secondary five R13 with coupling side chain intersects.
Embodiment 4：
The present embodiment it is a kind of based on containing coupling side chain the unit opened up development agency structure as Figure 6-Figure 8,
The unit opened up in multiple embodiments 3 builds this umbrella development agency as follows：Unit annular array can be opened up same
On pedestal FB, between two adjacent front-and-back units, previous unit I is by by its six-bar linkage L6 and the second halfpace
MP2 is connected as front-and-back unit common elements with latter unit II.The contained quantity for opening up unit is 6-12 in this development agency,
And the pedestal FB of development agency is regular prism, the bottom surface side number of pedestal FB is consistent with the quantity that can open up unit.
Claims (2)
1. a kind of containing the unit opened up for coupling side chain, it is characterised in that：It includes that pedestal (FB), first rotate secondary (R1), first
Connecting rod (L1), the first halfpace (MP1), second rotate secondary (R2), second connecting rod (L2), the 3rd rotation secondary (R3), the 3rd company
Bar (L3), the 4th rotation secondary (R4), tail end connecting rod (EP), the 5th rotate secondary (R5), fourth link (L4), the 6th rotation pair
(R6), the 5th connecting rod (L5), the 7th rotate secondary (R7), the second halfpace (MP2), six-bar linkage (L6), the dynamic pair of eighth-turn
(R8), one (R9) of coupling side chain rotation pair, coupling side chain connecting rod one (L7), coupling side chain rotate two (R10) of pair, coupling side chain company
Bar two (L8), coupling side chain rotate three (R11) of pair, coupling side chain connecting rod three (L9), four (R12) of coupling side chain rotation pair, coupling
Side chain connecting rod four (L10), coupling side chain rotate five (R13) of pair；Said base, connecting rod, secondary and platform has following annexation：The
One connecting rod (L1) rotates secondary (R1) and is arranged on pedestal (FB) by first, the first halfpace (MP1) and first connecting rod (L1)
It is fixedly connected, second connecting rod (L2) rotates secondary (R2) and is connected with the first halfpace (MP1) by second, and second rotates secondary (R2)
Axis along second connecting rod (L2) center line, third connecting rod (L3) rotates secondary (R3) and second connecting rod (L2) phase by the 3rd
Even, tail end connecting rod (EP) rotates secondary (R4) and is connected with third connecting rod (L3) by the 4th, and fourth link (L4) is rotated by the 5th
Secondary (R5) is connected with tail end connecting rod (EP), and the 5th connecting rod (L5) rotates secondary (R6) and is connected with fourth link (L4) by the 6th, the
Two halfpaces (MP2) rotate secondary (R7) and are connected with the 5th connecting rod (L5) by the 7th, and the axis of the 7th rotation pair (R7) is along the
The center line of five connecting rods (L5), six-bar linkage (L6) one end is fixedly connected with the second halfpace (MP2), and the other end passes through the 8th
Rotate secondary (R8) to be arranged on pedestal (FB), during coupling side chain connecting rod one (L7) rotates one (R9) of pair and first by coupling side chain
Between platform (MP1) connection, coupling side chain connecting rod two (L8) rotates by coupling side chain and two (R10) of pair and couples side chain connecting rod one
(L7) connect, coupling side chain rotates the axis of two (R10) of pair along the center line of coupling side chain connecting rod one (L7), couples side chain connecting rod
Three (L9) are connected by coupling side chain rotation three (R11) of pair with coupling side chain connecting rod two (L8), (L10) of coupling side chain connecting rod four
End is connected by coupling side chain rotation four (R12) of pair with coupling side chain connecting rod three (L9), and the other end rotates secondary by coupling side chain
Five (R13) are connected with the second halfpace (MP2), and coupling side chain rotates the axis of four (R12) of pair along coupling side chain connecting rod four
(L10) center line；The axis of the first dynamic pair (R8) of axis and eighth-turn for rotating secondary (R1) intersects in base plane, and the 3rd
The axis that the axis and the 6th for rotating secondary (R3) rotate secondary (R6) intersects, and the 4th rotates the axis of secondary (R4) and the 3rd rotates secondary
(R3) axis is parallel to each other, and the axis that the 5th axis for rotating secondary (R5) rotates secondary (R6) with the 6th is parallel to each other, the 4th turn
The axis of dynamic pair (R4) and the 5th axis for rotating secondary (R5) intersect, and coupling side chain rotates the axis of one (R9) of pair and couples side chain
The axis for rotating five (R13) of pair intersects.
2. based on the unit opened up described in claim 1, the umbrella development agency for building as follows：Multiple can open up unit
On same pedestal (FB), two adjacent front-and-back units are by the middle of the six-bar linkage (L6) of previous unit and second for annular array
Platform (MP2) is connected as common elements；The contained quantity for opening up unit is 6-12 in above-mentioned development agency, and development agency
Pedestal (FB) is regular prism, and the bottom surface side number of the pedestal (FB) is consistent with the quantity that can open up unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114291.0A CN106863270A (en) | 2017-02-28 | 2017-02-28 | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114291.0A CN106863270A (en) | 2017-02-28 | 2017-02-28 | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106863270A true CN106863270A (en) | 2017-06-20 |
Family
ID=59168983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710114291.0A Pending CN106863270A (en) | 2017-02-28 | 2017-02-28 | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106863270A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002220096A (en) * | 2001-01-29 | 2002-08-06 | Natl Space Development Agency Of Japan | Storable and unfoldable framed structure |
| CN102167165A (en) * | 2011-04-11 | 2011-08-31 | 哈尔滨工业大学 | Seven-revolute pair extensible unit and space extensible mechanism using same |
| CN102912852A (en) * | 2012-10-18 | 2013-02-06 | 东南大学 | Regular tetrahedral symmetrical deployable mechanism unit |
| CN102912853A (en) * | 2012-10-18 | 2013-02-06 | 东南大学 | Regular hexahedral symmetrical deployable mechanism unit |
| CN103895880A (en) * | 2014-04-02 | 2014-07-02 | 哈尔滨工程大学 | Extensible mechanism of octahedral space extension arm connecting unit |
| CN106058415A (en) * | 2016-09-05 | 2016-10-26 | 燕山大学 | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same |
| CN106393063A (en) * | 2016-09-20 | 2017-02-15 | 北京工业大学 | Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism |
-
2017
- 2017-02-28 CN CN201710114291.0A patent/CN106863270A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002220096A (en) * | 2001-01-29 | 2002-08-06 | Natl Space Development Agency Of Japan | Storable and unfoldable framed structure |
| CN102167165A (en) * | 2011-04-11 | 2011-08-31 | 哈尔滨工业大学 | Seven-revolute pair extensible unit and space extensible mechanism using same |
| CN102912852A (en) * | 2012-10-18 | 2013-02-06 | 东南大学 | Regular tetrahedral symmetrical deployable mechanism unit |
| CN102912853A (en) * | 2012-10-18 | 2013-02-06 | 东南大学 | Regular hexahedral symmetrical deployable mechanism unit |
| CN103895880A (en) * | 2014-04-02 | 2014-07-02 | 哈尔滨工程大学 | Extensible mechanism of octahedral space extension arm connecting unit |
| CN106058415A (en) * | 2016-09-05 | 2016-10-26 | 燕山大学 | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same |
| CN106393063A (en) * | 2016-09-20 | 2017-02-15 | 北京工业大学 | Single-freedom-degree moving dodecahedron foldable symmetric coupling mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 曹文熬: ""空间多环耦合机构数字化构型综合理论"", 《中国博士学位论文全文数据库（电子期刊）工程科技Ⅱ辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102167165B (en) | Seven-revolute pair extensible unit and space extensible mechanism using same | |
| CN107146939A (en) | Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain | |
| CN105799950A (en) | Single-degree-of-freedom overconstrained shear-type deployable unit and space deployable mechanisms composed of same | |
| CN102285463A (en) | Space foldable mechanism derived from five-revolute-pair units | |
| CN103786906B (en) | Space deployable mechanism | |
| CN107933959B (en) | Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism | |
| CN104362423A (en) | Elastic-hinge-driven double-layer annular truss antenna mechanism | |
| CN107097211A (en) | The two layers liang of symmetrical linkage unit of ring and the big folding ratio umbrella development agency based on this | |
| CN107416229A (en) | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this | |
| CN109560362A (en) | Based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency | |
| CN106992353A (en) | A kind of New Ring-like Type expandable truss structure | |
| CN108598662B (en) | Double-layer parallelogram annular expandable truss | |
| CN109927937A (en) | Separate type Solar and Heliospheric Observatory configuration | |
| CN106450647A (en) | Shears-fork type hexagonal-prism extensible unit and space extensible mechanism formed by the same | |
| CN106956245A (en) | Unit and large-scale umbrella development agency based on this are opened up containing what 3R coupled side chain | |
| CN109659661A (en) | A kind of rope bar stretching type annular deployable antenna mechanism | |
| CN108336470B (en) | Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit | |
| CN107054695A (en) | The symmetrical linkage unit of the coupling side chain containing 1R and the umbrella folding and unfolding mechanism based on this | |
| CN106826766A (en) | A kind of unit opened up containing 5R coupling side chains and the umbrella development agency based on this | |
| CN106891324A (en) | A kind of linkage unit containing 5R coupling side chains and the development agency based on the unit | |
| CN106965158A (en) | The connecting rod of the side chain containing coupling can open up unit and the big folding ratio development agency based on this | |
| CN106956244A (en) | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency | |
| CN106695798A (en) | Two-layer two-ring connecting rod deployable units and space deployable mechanism based on same | |
| CN107117333A (en) | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this | |
| CN106863270A (en) | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |