CN109110156B - Rigid hinge connection space expandable mechanism based on transformation of triangular prism expandable unit - Google Patents
Rigid hinge connection space expandable mechanism based on transformation of triangular prism expandable unit Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
Abstract
The utility model provides a but based on but three prismatic columns exhibition unit transform rigidity hinged joint space exhibition mechanism, includes but rigidity hinge and three prismatic columns exhibition unit, but the adjacent angle transform of the different scissors component of three prismatic columns exhibition unit and expansion convertible become different prismatic exhibition unit, but three prismatic columns exhibition unit is convertible into quadrangular exhibition unit and pentagonal prism exhibition unit, but corresponding constitution three prismatic columns space exhibition machine, quadrangular prism space exhibition mechanism and pentagonal prism space exhibition mechanism. The different prism space deployable mechanisms constructed by the invention have the characteristics of high rigidity strength, high bearing capacity, stable mechanism unfolding and folding, large space folding ratio and small folding volume, can form different space topological structures through the rigid hinge array, and are suitable for the field of aerospace vehicle support frames.
Description
Technical Field
The invention relates to the field of space developable mechanisms, in particular to a space developable mechanism based on transformation of a rigid hinge of a triangular prism developable unit.
Background
With the vigorous development of aerospace industry, exploration on outer space is gradually deepened, and some large-scale spacecraft supports such as radar antenna supports, large-caliber space antenna supports and the like need different types of supports so as to meet different aerospace requirements; at present, a plurality of space folding and unfolding mechanisms and support frames of spacecrafts can form a space folding and unfolding mechanism which is stable in unfolding and large in folding ratio through an array or topology of folding and unfolding units.
Chinese patent 201210464544.1 discloses a foldable unit of triangular prism and a foldable support arm composed of the foldable unit, the mechanism takes triangular prism as the foldable unit to compose the folding and unfolding of the mechanism, the unfolding and folding are stable, but the folding ratio is relatively smaller, and the foldable unit is single; chinese patent 201210310520.3 discloses a planar array deployable mechanism based on square cells, which has a square cell configuration, a small folding ratio, and a planar folding, and the deployable cells are single.
At present, an innovative invention design of a space extensible mechanism based on triangular prism extensible unit transformation rigid hinge connection, which has the characteristics of capability of forming different space topological structures in an array mode, high rigidity strength, high bearing capacity, stable mechanism unfolding and folding, large space folding ratio and small folding volume, and is characterized by being not available.
Disclosure of Invention
The invention aims to provide a space extensible mechanism connected with a rigid hinge based on triangular prism extensible unit transformation, which has the characteristics of high rigidity strength, high bearing capacity, stable mechanism unfolding and folding, large space folding ratio and small folding volume, can form different space topological structures through a rigid hinge array, and is suitable for the field of aerospace vehicle support frames.
The technical scheme of the invention is as follows: a space developable mechanism based on transformation of a rigid hinge of a triangular prism developable unit comprises a rigid hinge and a triangular prism developable unit, wherein the rigid hinge comprises a five-revolute pair hinge and an eight-revolute pair hinge; the triangular prism deployable unit comprises a scissor component, a base, two revolute pair hinges and three revolute pair hinges, wherein the scissor component is divided into an outer layer scissor component and an inner layer scissor component, and the inner layer scissor component is connected with the outer layer scissor component through the three revolute pair hinges; the outer layer scissor component comprises a first group of outer layer scissor component, a second group of outer layer scissor component, a third group of outer layer scissor component, a fourth group of outer layer scissor component and a fifth group of outer layer scissor component, wherein the first group of outer layer scissor component comprises a slide bar and a slide bar groove, one end of the slide bar is connected with the slide bar groove through a sliding pair, the other end of the slide bar is connected with a first hinge seat of a three-rotating-pair hinge through a hinge, a third hinge seat of the three-rotating-pair hinge is connected with one end of the slide bar of the second group of outer layer scissor component through a hinge, therefore, the first hinge seat and the third hinge seat of the three-rotating-pair hinge are respectively connected with the group of outer layer scissor component, and the structures of the second group of outer layer scissor component, the third group of outer layer scissor component, the fourth group of outer layer scissor component and the fifth group of outer layer scissor component are completely the same as the structure of the first group of outer layer scissor component; the connection relationship between the two groups of outer layer scissors components and the three revolute pair hinges is completely the same as the connection relationship between the first group and the third group and the connection relationship between the second group and the three revolute pair hinges; the inner-layer scissor component comprises a first group of inner-layer scissor components, a second group of inner-layer scissor components, a third group of inner-layer scissor components, a fourth group of inner-layer scissor components and a fifth group of inner-layer scissor components, the first group of inner-layer scissor components comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the second base through two revolute pair hinges, the other end of the first connecting rod is connected with the second hinge base of the three revolute pair hinges through hinges, one end of the second connecting rod is connected with the first base through the two revolute pair hinges, the other end of the second connecting rod is connected with the second hinge base of the three revolute pair hinges through hinges, and the structures and connection relations of the other four groups of inner-layer scissor components and the first group of inner-layer scissor components are completely the same; the engine base is a quincuncial engine base and comprises a first engine base and a second engine base, five hinge bases with the same size are uniformly distributed on the first engine base and are provided with limiting structures, the hinge bases are connected with two revolute pair hinges through hinges, and the structures and the connection relations of the second engine base and the first engine base are completely the same.
The first group of outer layer scissor members, the second group of outer layer scissor members and the fourth group of scissor members of the triangular prism expandable unit are in a fully expanded state, the third group of outer layer scissor members and the fifth group of outer layer scissor members are in a compressed state, and the five groups of inner layer scissor members are in an expanded state; when the third group of outer layer scissors components are in an unfolding state, the triangular prism unfoldable unit is transformed into a quadrangular prism unfoldable unit; when the fifth set of outer scissors members is also in the unfolded state, the quadrangular prism developable unit is transformed into a pentagonal prism developable unit.
The five-revolute pair hinge is connected with the four groups of triangular prism developable units and consists of a rotatable hinge seat and a fixed hinge seat, the fixed hinge seat is connected with the inner layer shearing fork member of the triangular prism developable unit through a hinge, and the rotatable hinge seat is connected with the outer layer shearing fork member through a hinge; the eight revolute pairs are hinged with the four groups of quadrangular prism developable units and the four groups of pentagonal prism developable units and are divided into eight hinge seats on the upper layer and the lower layer.
The structure of the first connecting rod and the second connecting rod of the inner layer scissors component are completely the same, the first connecting rod and the second connecting rod are mutually connected through a hinge, the inner layer scissors component forms a prism expandable unit framework, and the outer layer scissors component forms a prism surface.
The axes of the two hinge seats on the two revolute pair hinges are vertical in different planes, and the three revolute pair hinges comprise three hinge seats which are respectively a first hinge seat, a second hinge seat and a third hinge seat.
The outer-layer scissor component is composed of four sliding rods and two sliding rod grooves, and the two sliding rod grooves are connected with each other through a hinge.
The invention has the outstanding advantages that:
1. the mechanism can be converted from a triangular prism expandable unit into a quadrangular prism expandable unit and a pentagonal prism expandable unit, different space expandable mechanisms are formed when the triangular prism expandable units and the pentagonal prism expandable units are connected through rigid hinges, and the mechanism has high rigidity and strength and can bear certain load impact.
2. The mechanism unfolding and the mechanism state transformation are single-degree-of-freedom, the structure unfolding and folding are stable, the space folding ratio is large, the furled volume is small, and the mechanism can be applied to the field of aerospace vehicle support frames.
Drawings
Fig. 1 is a schematic structural diagram of a triangular prism developable unit of a rigid hinge connection space developable mechanism based on triangular prism developable unit transformation according to the present invention.
Fig. 2 is a top view of the triangular prism space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection space developable mechanism.
Fig. 3 is a drawing schematic view of the triangular prism space expandable mechanism based on the triangular prism expandable unit transformation rigid hinge connection space expandable mechanism of the present invention.
Fig. 4 is a schematic structural diagram of a quadrangular prism developable unit of the rigid hinge connection space developable mechanism based on triangular prism developable unit transformation according to the present invention.
Fig. 5 is a top view of the quadrangular prism space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection space developable mechanism.
Fig. 6 is a drawing schematic view of the quadrangular prism space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection space developable mechanism of the present invention.
Fig. 7 is a schematic structural diagram of a pentagonal prism developable unit of the rigid hinge connection space developable mechanism based on triangular prism developable unit transformation according to the present invention.
Fig. 8 is a top view of the pentagonal prism space expanding mechanism based on the triangular prism expandable unit transformation rigid hinge connection space expanding mechanism.
Fig. 9 is a drawing schematic view of the pentagonal prism space expanding mechanism based on the triangular prism expandable unit transformation rigid hinge connection space expanding mechanism.
Fig. 10 is a schematic structural diagram of an inner layer scissors member of the space expanding mechanism based on the transformation of the triangular prism expandable unit and the rigid hinge connection.
Fig. 11 is a schematic structural diagram of an outer layer scissor member of the space deployable mechanism connected with the rigid hinge based on the transformation of the triangular prism deployable unit according to the present invention.
Fig. 12 is a schematic diagram of a base structure of the space developable mechanism based on the transformation rigid hinge of the triangular prism developable unit.
Fig. 13 is a schematic view of a slide bar structure of the space expanding mechanism based on the transformation of the triangular prism expandable unit and the rigid hinge.
Fig. 14 is a schematic view of a two-revolute pair hinge structure of the space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection according to the present invention.
Fig. 15 is a schematic view of a three-revolute pair hinge structure of the space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection according to the present invention.
Fig. 16 is a schematic diagram of a five-revolute pair hinge structure of the space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection according to the present invention.
Fig. 17 is a schematic view of an eight-revolute pair hinge structure of the space developable mechanism based on the triangular prism developable unit transformation rigid hinge connection according to the present invention.
Labeled as: 1. a first base, 2, a second base, 3, two revolute pair hinges, 4, three revolute pair hinges, 4-1, a first hinge seat, 4-2, a second hinge seat, 4-3, a third hinge seat, 5, a first connecting rod, 6, a second connecting rod, 7, a sliding rod, 8, a sliding rod groove, 10, five revolute pair hinges, 10-1, a rotatable hinge seat, 10-2, a fixed hinge base, 11, an eight-revolute pair hinge, 101, a first group of outer layer scissor components, 102, a second group of outer layer scissor components, 103, a third group of outer layer scissor components, 104, a fourth group of outer layer scissor components, 105, a fifth group of outer layer scissor components, 201, a first group of inner layer scissor components, 202, a second group of inner layer scissor components, 203, a third group of inner layer scissor components, 204, a fourth group of inner layer scissor components, 205 and a fifth group of inner layer scissor components.
Detailed Description
The technical solution of the present invention is further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 17, the space developable mechanism based on the transformation of the triangular prism developable unit and the rigid hinge connection according to the present invention includes a rigid hinge and a triangular prism developable unit, where the rigid hinge includes a five revolute pair hinge 10 and an eight revolute pair hinge 11; the triangular prism deployable unit comprises a scissor component, a base, two revolute pair hinges 3 and three revolute pair hinges 4, wherein the scissor component is divided into an outer layer scissor component and an inner layer scissor component, and the inner layer scissor component is connected with the outer layer scissor component through the three revolute pair hinges 4; the outer layer scissor component comprises a first group of outer layer scissor component 101, a second group of outer layer scissor component 102, a third group of outer layer scissor component 103, a fourth group of outer layer scissor component 104 and a fifth group of outer layer scissor component 105, the first group of outer layer scissor component 101 comprises a slide bar 7 and a slide bar groove 8, one end of the slide bar 7 is connected with the slide bar groove 8 through a sliding pair, the other end of the slide bar 7 is connected with a first hinge seat 4-1 of a three revolute pair hinge 4 through a hinge, a third hinge seat 4-3 of the three revolute pair hinge 4 is connected with one end of the slide bar 7 of the second group of outer layer scissor component 102 through a hinge, therefore, a group of outer layer scissor components are respectively connected through the first hinge seat and the third hinge seat of the three revolute pair hinge 4, and the structures of the second group of outer layer scissor components 102, the third group of outer layer scissor components 103, the fourth group of outer layer scissor components 104 and the fifth group of outer layer scissor components 104 are completely the same as the structure of the first group of outer layer scissor components 101; the connection relationship between the two groups of outer layer scissors components and the three revolute pair hinges 4 is completely the same as the connection relationship between the first group and the third group and the connection relationship between the second group and the three revolute pair hinges 4; the inner-layer scissor components comprise a first group of inner-layer scissor components 201, a second group of inner-layer scissor components 202, a third group of inner-layer scissor components 203, a fourth group of inner-layer scissor components 204 and a fifth group of inner-layer scissor components 205, the first group of inner-layer scissor components 201 comprises a first connecting rod 5 and a second connecting rod 6, one end of the first connecting rod 5 is connected with the second base 2 through two revolute pair hinges 3, the other end of the first connecting rod is connected with the second hinge base 4-2 of the three revolute pair hinges 4 through a hinge, one end of the second connecting rod 6 is connected with the first base 1 through the two revolute pair hinges 3, the other end of the second connecting rod is connected with the second hinge base 4-2 of the three revolute pair hinges 4 through a hinge, and the structures and the connection relations of the other four groups of inner-layer scissor components and the first group of inner-layer scissor components 201 are completely the same; the engine base is a quincuncial engine base and comprises a first engine base 1 and a second engine base 2, five hinge bases with the same size are uniformly distributed on the first engine base 1 and are provided with limiting structures, the hinge bases are connected with two revolute pair hinges 3 through hinges, and the structure and the connection relation of the second engine base 2 and the first engine base 1 are completely the same.
The first group of outer layer scissor members 101, the second group of outer layer scissor members 102 and the fourth group of outer layer scissor members 104 of the triangular prism expandable unit are in a fully expanded state, the third group of outer layer scissor members 103 and the fifth group of outer layer scissor members 105 are in a compressed state, and the five groups of inner layer scissor members are in an expanded state; when the third set of outer scissors member 103 is in the deployed state, the triangular prism deployable unit is transformed into a quadrangular prism deployable unit; when the fifth set of outer scissors members 105 is also in the extended position, the quadrangular cylindrical developable unit is transformed into a pentagonal cylindrical developable unit.
The five-revolute pair hinge 10 is connected with four groups of triangular prism deployable units and consists of a rotatable hinge seat 10-1 and a fixed hinge seat 10-2, the fixed hinge seat 10-2 is connected with an inner layer shearing fork member of the triangular prism deployable unit through a hinge, and the rotatable hinge seat 10-1 is connected with an outer layer shearing fork member through a hinge; the eight revolute pair hinges 11 are connected with four groups of quadrangular prism developable units and four groups of pentagonal prism developable units and are divided into eight hinge seats on the upper layer and the lower layer.
The structure of the first connecting rod 5 and the second connecting rod 6 of the inner layer scissors component are completely the same, the first connecting rod 5 and the second connecting rod 6 are connected with each other through a hinge, the inner layer scissors component forms a prism expandable unit framework, and the outer layer scissors component forms a prism surface.
The axes of the two hinge seats on the two revolute pair hinges 3 are vertical in different planes, and the three revolute pair hinges 4 comprise three hinge seats which are respectively a first hinge seat 4-1, a second hinge seat 4-2 and a third hinge seat 4-3.
The outer-layer scissor component is composed of four sliding rods 7 and two sliding rod grooves 8, and the two sliding rod grooves 8 are connected with each other through hinges.
The working principle and the process are as follows:
the first embodiment is as follows: as shown in fig. 1 to 3, the triangular prism space expandable mechanism is configured, and the expansion or contraction of the triangular prism space expandable mechanism is realized by the triangular prism expandable unit. The first, second and fourth sets of outer layer scissor members 101, 102 and 104 are in an expanded state, while the third set of outer layer scissor members 103 is compressed by the second and third sets of inner layer scissor members 202 and 203 and is in an accumulated energy state, and the fifth set of outer layer scissor members 105 is compressed by the fourth and fifth sets of inner layer scissor members 204 and 205 and is in an accumulated energy state, as shown in fig. 1, a triangular prism expandable unit; the four groups of triangular prism developable units are connected through the five revolute pair hinges 10 to form a triangular prism space developable mechanism, and the mechanism is in a fully expanded state at the moment, as shown in fig. 2; when the group of inner layer scissors members are driven to do furling motion, the inner layer scissors members are connected with the outer layer scissors members through the three revolute pair hinges 4, so that the furling motion of the inner layer scissors members drives the outer layer scissors members to do synchronous furling motion, and the whole mechanism is driven to do furling motion until the inner layer scissors members are furled into a completely folded state, as shown in fig. 3.
The second embodiment is as follows: as shown in fig. 4 to fig. 6, the quadrangular space developable mechanism is configured, and the expansion or contraction of the quadrangular space developable mechanism is realized by the quadrangular space developable unit. Releasing the energy accumulated in the third group of outer scissors members 103 compressed by the second group of inner scissors members 202 and the third group of inner scissors members 203 on the basis of the triangular prism deployable unit, wherein the slide bars 7 of the third group of outer scissors members 103 are stretched outwards in the slide bar grooves 8, the whole third group of outer scissors members 103 are deployed, the five groups of inner scissors members are deployed synchronously, and the whole mechanism is converted from the triangular prism deployable unit to the quadrangular prism deployable unit, as shown in fig. 4; the four groups of quadrangular prism developable units are connected through eight revolute pair hinges 11 to form a quadrangular prism space developable mechanism, and the mechanism is in a completely unfolded state at the moment, as shown in fig. 5; when the group of inner layer scissors members are driven to do furling motion, the inner layer scissors members are connected with the outer layer scissors members through the three revolute pair hinges 4, so that the furling motion of the inner layer scissors members drives the outer layer scissors members to do synchronous furling motion, and the whole mechanism is driven to do furling motion until the inner layer scissors members are furled into a completely folded state, as shown in fig. 6.
The third concrete implementation mode: as shown in fig. 7 to 9, the pentagonal prism space expanding mechanism is configured, and the unfolding or folding of the pentagonal prism space expanding mechanism is realized by the pentagonal prism expanding units. Releasing the energy accumulated in the fifth group outer layer scissor component 105 compressed by the fourth group inner layer scissor component 204 and the fifth group inner layer scissor component 205 on the basis of the quadrangular prism expandable unit, wherein the slide bar 7 of the fifth group outer layer scissor component 105 is stretched outwards in the slide bar groove 8, the whole fifth group outer layer scissor component 105 is expanded, the five groups inner layer scissor components are synchronously expanded, and the whole mechanism is converted from the quadrangular prism expandable unit to the pentagonal prism expandable unit, as shown in fig. 7; the eight revolute pair hinges 11 are connected with the four groups of pentagonal prism developable units to form a pentagonal prism space developable mechanism, and the mechanism is in a fully expanded state at the moment, as shown in fig. 8; when the group of inner layer scissors members are driven to do furling motion, the inner layer scissors members are connected with the outer layer scissors members through the three revolute pair hinges 4, so that the furling motion of the inner layer scissors members drives the outer layer scissors members to do synchronous furling motion, and the whole mechanism is driven to do furling motion until the inner layer scissors members are furled into a completely folded state, as shown in fig. 9.
Claims (6)
1. The utility model provides a but based on but three prismatic exhibition unit transform rigidity hinged joint space exhibition mechanism, includes but rigidity hinge and three prismatic exhibition unit, its characterized in that: the rigid hinge comprises a five-revolute pair hinge and an eight-revolute pair hinge; the triangular prism deployable unit comprises a scissor component, a base, two revolute pair hinges and three revolute pair hinges, wherein the scissor component is divided into an outer layer scissor component and an inner layer scissor component, and the inner layer scissor component is connected with the outer layer scissor component through the three revolute pair hinges; the outer layer scissor component comprises a first group of outer layer scissor component, a second group of outer layer scissor component, a third group of outer layer scissor component, a fourth group of outer layer scissor component and a fifth group of outer layer scissor component, wherein the first group of outer layer scissor component comprises a slide bar and a slide bar groove, one end of the slide bar is connected with the slide bar groove through a sliding pair, the other end of the slide bar is connected with a first hinge seat of a three-rotating-pair hinge through a hinge, a third hinge seat of the three-rotating-pair hinge is connected with one end of the slide bar of the second group of outer layer scissor component through a hinge, therefore, the first hinge seat and the third hinge seat of the three-rotating-pair hinge are respectively connected with the group of outer layer scissor component, and the structures of the second group of outer layer scissor component, the third group of outer layer scissor component, the fourth group of outer layer scissor component and the fifth group of outer layer scissor component are completely the same as the structure of the first group of outer layer scissor component; the connection relationship between the two groups of outer layer scissors components and the three revolute pair hinges is completely the same as the connection relationship between the first group and the third group and the connection relationship between the second group and the three revolute pair hinges; the inner-layer scissor component comprises a first group of inner-layer scissor components, a second group of inner-layer scissor components, a third group of inner-layer scissor components, a fourth group of inner-layer scissor components and a fifth group of inner-layer scissor components, the first group of inner-layer scissor components comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the second base through two revolute pair hinges, the other end of the first connecting rod is connected with a second hinge seat of one three revolute pair hinge through a hinge, one end of the second connecting rod is connected with the first base through two revolute pair hinges, the other end of the second connecting rod is connected with the second hinge seat of the other three revolute pair hinge through a hinge, and the structures and the connection relations of the other four groups of inner-layer scissor components and the first group of inner-layer scissor components are completely the same; the engine base is a quincuncial engine base and comprises a first engine base and a second engine base, five hinge bases with the same size are uniformly distributed on the first engine base and are provided with limiting structures, the hinge bases are connected with two revolute pair hinges through hinges, and the structures and the connection relations of the second engine base and the first engine base are completely the same.
2. The mechanism of claim 1, wherein the space developable mechanism is connected with a rigid hinge based on transformation of a triangular prism developable unit, and comprises: the first group of outer layer scissor members, the second group of outer layer scissor members and the fourth group of scissor members of the triangular prism expandable unit are in a fully expanded state, the third group of outer layer scissor members and the fifth group of outer layer scissor members are in a compressed state, and the five groups of inner layer scissor members are in an expanded state; when the third group of outer layer scissors components are in an unfolding state, the triangular prism unfoldable unit is transformed into a quadrangular prism unfoldable unit; when the fifth set of outer scissors members is also in the unfolded state, the quadrangular prism developable unit is transformed into a pentagonal prism developable unit.
3. The mechanism of claim 1, wherein the space developable mechanism is connected with a rigid hinge based on transformation of a triangular prism developable unit, and comprises: the five-revolute pair hinge is connected with the four groups of triangular prism developable units and consists of a rotatable hinge seat and a fixed hinge seat, the fixed hinge seat is connected with the inner layer shearing fork member of the triangular prism developable unit through a hinge, and the rotatable hinge seat is connected with the outer layer shearing fork member through a hinge; the eight revolute pairs are hinged with the four groups of quadrangular prism developable units and the four groups of pentagonal prism developable units and are divided into eight hinge seats on the upper layer and the lower layer.
4. The mechanism of claim 1, wherein the space developable mechanism is connected with a rigid hinge based on transformation of a triangular prism developable unit, and comprises: the structure of the first connecting rod and the second connecting rod of the inner layer scissors component are completely the same, the first connecting rod and the second connecting rod are mutually connected through a hinge, the inner layer scissors component forms a prism expandable unit framework, and the outer layer scissors component forms a prism surface.
5. The mechanism of claim 1, wherein the space developable mechanism is connected with a rigid hinge based on transformation of a triangular prism developable unit, and comprises: the axes of the two hinge seats on the two revolute pair hinges are vertical in different planes, and the three revolute pair hinges comprise three hinge seats which are respectively a first hinge seat, a second hinge seat and a third hinge seat.
6. The mechanism of claim 1, wherein the space developable mechanism is connected with a rigid hinge based on transformation of a triangular prism developable unit, and comprises: the outer-layer scissor component is composed of four sliding rods and two sliding rod grooves, and the two sliding rod grooves are connected with each other through a hinge.
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| CN109616736B (en) * | 2019-01-18 | 2023-12-01 | 燕山大学 | Shear type unit hybrid array type perimeter truss expandable antenna mechanism |
| CN111276785B (en) * | 2020-02-14 | 2022-07-19 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
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| CN102832438B (en) * | 2012-08-28 | 2014-07-16 | 西北工业大学 | Regular-triangle-unit planar array deployable mechanism |
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| RU2583420C1 (en) * | 2014-12-31 | 2016-05-10 | Акционерное общество "Научно-производственная корпорация "Космические системы мониторинга, информационно-управляющие и электромеханические комплексы" имени А.Г. Иосифьяна" (АО "Корпорация "ВНИИЭМ") | Frame of radar antenna for spacecraft |
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