CN109638413A - Packing forms single-degree-of-freedom hoop truss deployable antenna mechanism - Google Patents
Packing forms single-degree-of-freedom hoop truss deployable antenna mechanism Download PDFInfo
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- CN109638413A CN109638413A CN201910046770.2A CN201910046770A CN109638413A CN 109638413 A CN109638413 A CN 109638413A CN 201910046770 A CN201910046770 A CN 201910046770A CN 109638413 A CN109638413 A CN 109638413A
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- outer layer
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- freedom
- revolute pair
- deployable
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
Abstract
The invention discloses a kind of packing forms single-degree-of-freedom hoop truss deployable antenna mechanisms, include N number of outer layer single-degree-of-freedom deployable mechanism unit and N number of internal layer single-degree-of-freedom deployable mechanism unit, mainly by underlay nodes connector, internal layer connecting rod, intermediate connecting rod, outer layer connecting rod, outer layer node connector is connected by revolute pair and is formed, two class single-degree-of-freedom deployable mechanism units are mutually interspersed and array is arranged, by sharing two intermediate connecting rods, two underlay nodes connectors and two outer layer node connectors are connected, collectively constitute multi-panel formula hoop truss mechanism；Overall mechanism has the structural symmetry of height, by the quantity and the wherein length of rod piece that change inside and outside layer single-degree-of-freedom deployable mechanism unit in overall mechanism, the hoop truss formula space deployable mechanism of different scale can be formed, can be preferably applied in heavy caliber satellite antenna.
Description
Technical field
The present invention relates to a kind of deployable antenna mechanism more particularly to a kind of packing forms single-degree-of-freedom hoop trusses
Deployable antenna mechanism.
Background technique
With the continuous development of space science technology, Aerospace Satellite, space station and other spacecrafts are collected and transmit
Information content be increasing, work of the antenna as information transmission and reception device during space communication and data are transmitted
With more prominent.For the information content for increasing space transmitting, need to be continuously improved transmission bandwidth and signal gain, most directly effectively
Method be exactly the bore for increasing space antenna, in this way increase space transmitting information content while can also simplify ground receiver
Device.Due to being limited by rocket payload bay volume and rocket entirety carrying capacity, space antenna and other skies
Between structure needs fold up and be placed in radome fairing in launching phase, it is reinflated to working condition after entering space orbit,
Therefore the design of large space deployable mechanism has been increasingly becoming one of research hotspot of aerospace field.
Large space deployable antenna mainly includes that ribbed, hoop truss formula and framework type etc. is unfolded, wherein periphery purlin
Posture deployable antenna bore is up to tens meters or even rice up to a hundred, and its total quality does not increase and proportional increase with bore,
It is the ideal structure form of heavy caliber space deployable antenna.It is more write in hoop truss deployable antenna in orbit at present
Name is the U.S. in the AstroMesh antenna of transmitting in 2000, bore 12.25m, total quality 55Kg, by multiple flat
In face of angle, telescopic unit is connected with each other, and the diameter and height when gathering are respectively 1.3m and 3.8m.
Since hoop truss deployable antenna is in the good property of space large caliber and super large caliber deployable antenna field
Energy advantage, various countries related scientific research personnel are in the unfolding mechanism of hoop truss deployable antenna, the forming of rope net and expansion control etc.
Aspect has done a large amount of research, but hoop truss deployable antenna class of establishment in orbit at present is still less, and
With the increase of antenna aperture, overall structure Stiffness is more serious.Therefore, it needs to propose that structure is simple, rigidity is higher, folding
The hoop truss formula deployable antenna mechanism of the bigger and anufacturability function admirables such as preferably is folded, to meet different space flight
The demand of task.
Summary of the invention
For overcome the deficiencies in the prior art, that the purpose of the present invention is to provide a kind of freedom degrees is few, structure is simple, rigidity
Packing forms single-degree-of-freedom hoop truss deployable antenna mechanism higher and that folding is bigger.
To achieve the above object, the present invention is realized according to following technical scheme:
A kind of packing forms single-degree-of-freedom hoop truss deployable antenna mechanism, it is characterised in that: include N number of outer layer list
Freedom degree deployable mechanism unit and N number of internal layer single-degree-of-freedom deployable mechanism unit, wherein N is the integer more than or equal to 3, institute
Outer layer single-degree-of-freedom deployable mechanism unit is stated including in four outer layer node connectors, two underlay nodes connectors, four
Between connecting rod and four outer layer connecting rods, the internal layer single-degree-of-freedom deployable mechanism unit include four underlay nodes connectors,
Two outer layer node connectors, four intermediate connecting rods and four internal layer connecting rods, the outer layer single-degree-of-freedom deployable mechanism list
It is first with the internal layer single-degree-of-freedom deployable mechanism unit by two shared intermediate connecting rods, two underlay nodes connectors with
And two outer layer node connectors are mutually interspersed and array is arranged, collectively constitute multi-panel formula hoop truss mechanism.
In above-mentioned technical proposal, in pairs, every group of one end is connected four outer layer connecting rods by revolute pair, and in addition two
End is inserted into two outer layer node connectors in the notch of lateral branch fork respectively and is connected by revolute pair；Four internal layer connecting rods two
Two 1 groups, every group of one end is connected by revolute pair, and in addition what lateral branch in two underlay nodes connectors was pitched be inserted into both ends respectively
It is connected in notch and by revolute pair；In pairs, every group is connected by revolute pair four intermediate connecting rods, and four after connection
The branch fork of the close intermediate symmetry plane of two outer layer node connectors and two underlay nodes connectors is inserted into free end respectively
Notch in and pass through revolute pair connect；Four outer layer nodal-connection structures are identical, and each outer layer node connector is equipped with
Four branch forks, generally face symmetrical structure, each side there are two branch to pitch for intermediate symmetry plane, is provided with one on each fork
Two branch fork of a notch, outside is used to be inserted into outer layer connecting rod and is connected by revolute pair, close to two of intermediate symmetry plane
Branch fork is used to be inserted into intermediate connecting rod and is connected by revolute pair；Two underlay nodes connecting-piece structures are identical, each underlay nodes
Connector is all provided with there are four branch fork, generally face symmetrical structure, and each side there are two branch to pitch for intermediate symmetry plane, Ge Gezhi
A notch is provided on fork, two branch fork in outside is used to be inserted into internal layer connecting rod and connects by revolute pair, close to intermediate right
Claim two branch fork of plane to be used to be inserted into intermediate connecting rod and is connected by revolute pair.
In above-mentioned technical proposal, on each branch fork pockets mouth of outer layer node connector in revolute pair axis and outer layer node connector
Mandrel linear distance is all the same, and the angle between the notch plane of symmetry of two branch in outside fork is (180-360/N) °, lateral branch fork
Angle between the notch plane of symmetry and the notch plane of symmetry of interior collateral fork is set as needed, and angle is acute angle, is set as α；
Revolute pair axis is with underlay nodes connector central axis apart from all the same, outside two on each branch fork pockets mouth of underlay nodes connector
The notch plane of symmetry of a branch fork is (180+360/N) ° in the angle close to interior collateral fork side, close to the two of intermediate symmetry plane
Angle between the notch plane of symmetry of a branch fork is (180 ° of -2 α)；Revolute pair axis on each branch fork pockets mouth of underlay nodes connector
With revolute pair axis in underlay nodes connector central axis distance and each branch fork pockets mouth of outer layer node connector and outer node layer
Connector central axis ratio of distances constant is ((1-cos α)/cos α).
In above-mentioned technical proposal, connecting the revolute pairs of two intermediate connecting rods, it is divided into two sections by each intermediate connecting rod, and interior
One section connected of length of node layer connector and one section of length ratio being connected with outer layer node connector are ((1-cos
α)/cosα)；Outer layer connecting rod rod length is set as needed, and the rod length of outer layer connecting rod is less than on intermediate connecting rod with outside
One section of length of node layer connector connection；Internal layer connecting rod rod length and outer layer connecting rod rod piece length ratio are (sin (90-
180/N-α)/cosα)。
In above-mentioned technical proposal, connected on four outer layer connecting rods in same outer layer single-degree-of-freedom deployable mechanism unit
Revolute pair axis is parallel；The revolute pair connected on four internal layer connecting rods in same internal layer single-degree-of-freedom deployable mechanism unit
Axis is parallel；In outer layer single-degree-of-freedom deployable mechanism unit and internal layer single-degree-of-freedom deployable mechanism unit among same group
The revolute pair axis connected on connecting rod is parallel.
Compared with prior art, the present invention having the following beneficial effects:
1, the configuration of the present invention is simple, only one whole freedom degree, it is only necessary to which a driving can be fully deployed.
2, kinematic pair contained by the present invention is revolute pair, and assembling manufacturing craftsmanship is preferably and reliability is higher.
3, present invention movement is flexibly and foldable integral is bigger.
4, the present invention has the structural symmetry of height, deployable by changing inside and outside layer single-degree-of-freedom in overall mechanism
The length of the quantity of mechanism unit and wherein rod piece can form the hoop truss formula space deployable mechanism of different scale,
Can preferably it be applied in heavy caliber satellite antenna.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is that the present invention is fully deployed stereoscopic schematic diagram；
Fig. 2 is that the present invention is fully deployed top view；
Fig. 3 is half expansion stereoscopic schematic diagram of the present invention；
Fig. 4 is the stereoscopic schematic diagram of gathering completely of the invention；
Fig. 5 is that outer layer single-degree-of-freedom deployable mechanism unit of the invention is fully deployed stereoscopic schematic diagram；
Fig. 6 is that stereoscopic schematic diagram is partly unfolded in outer layer single-degree-of-freedom deployable mechanism unit of the invention；
Fig. 7 is that internal layer single-degree-of-freedom deployable mechanism unit of the invention is fully deployed stereoscopic schematic diagram；
Fig. 8 is that stereoscopic schematic diagram is partly unfolded in internal layer single-degree-of-freedom deployable mechanism unit of the invention；
Fig. 9 is one group of intermediate connecting rod of the invention and its inside and outside node layer connector stereoscopic schematic diagram connected；
Figure 10 is outer layer node connector stereoscopic schematic diagram of the invention；
Figure 11 is underlay nodes connector stereoscopic schematic diagram of the invention.
In figure: A: outer layer single-degree-of-freedom deployable mechanism unit, B: internal layer single-degree-of-freedom deployable mechanism unit；1: outer layer
Node connector, 2: outer layer connecting rod, 3: underlay nodes connector, 4: intermediate connecting rod, 5: internal layer connecting rod.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " radial direction ", " axial direction ", "upper", "lower", "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.In the description of the present invention, unless otherwise indicated,
The meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Set ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
It, can also be indirectly connected through an intermediary to be to be connected directly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In Fig. 1-packing forms single-degree-of-freedom hoop truss deployable antenna mechanism stereoscopic schematic diagram shown in Fig. 4,
It includes 12 (N=12) outer layer single-degree-of-freedom deployable mechanism unit A and 12 deployable machines of (N=12) internal layer single-degree-of-freedom
Structure unit B, two class single-degree-of-freedom deployable mechanism units are mutually interspersed and array is arranged, pass through and share two intermediate connecting rods 4, two
A underlay nodes connector 3 and two outer layer node connectors 1 are connected, and collectively constitute multi-panel formula hoop truss mechanism.
It mainly include four in Fig. 5 and outer layer single-degree-of-freedom deployable mechanism unit three-dimensional simplified schematic diagram shown in fig. 6
The intermediate connecting rod 4 of underlay nodes connector 3, four of a outer layer node connector 1, two and four outer layer connecting rods 2.
It mainly include four in Fig. 7 and internal layer single-degree-of-freedom deployable mechanism unit three-dimensional simplified schematic diagram shown in Fig. 8
The intermediate connecting rod 4 of outer layer node connector 1, four of a underlay nodes connector 3, two and four internal layer connecting rods 5.
As shown in Fig. 5-Figure 11, four 2 structures of outer layer connecting rod are identical, four outer layer connecting rods 2 in pairs, every group one
End is connected by revolute pair, and in addition both ends are inserted into the notch that lateral branch is pitched in two outer layer node connectors 1 respectively and are passed through
Revolute pair connection；Four 5 structures of internal layer connecting rod are identical, and in pairs, every group of one end passes through revolute pair to four internal layer connecting rods 5
Connection, in addition both ends are inserted into the notch that lateral branch is pitched in two underlay nodes connectors 3 respectively and are connected by revolute pair；Four
A 4 structure of intermediate connecting rod is identical, and in pairs, every group is connected by revolute pair four intermediate connecting rods 4, and four after connection
The close intermediate symmetry plane of two outer layer node connectors 1 and two underlay nodes connectors 3 is inserted into a free end respectively
It is connected in the notch of branch fork and by revolute pair；Four 1 structures of outer layer node connector are identical, each outer node layer connection
There are four branch to pitch for part 1, generally face symmetrical structure, and each side there are two branch to pitch for intermediate symmetry plane, on each fork
It is provided with a notch, two branch fork in outside is used to be inserted into outer layer connecting rod 2 and connects by revolute pair, flat close to intermediate symmetry
Two branch fork in face is used to be inserted into intermediate connecting rod 4 and is connected by revolute pair；Two complete phases of 3 structure of underlay nodes connector
Together, there are four branch to pitch for each underlay nodes connector 3, and generally face symmetrical structure, intermediate symmetry plane each side have
Two branch forks are pitched for each and are provided with a notch, and two branch fork in outside is used to be inserted into internal layer connecting rod 5 and pass through revolute pair
Connection is used to be inserted into intermediate connecting rod 4 close to two branch fork of intermediate symmetry plane and is connected by revolute pair.
In the inside and outside node layer connector stereoscopic schematic diagram shown in Figure 10 and Figure 11, each branch of outer layer node connector 1 fork
Revolute pair axis and 1 central axis distance n of outer layer node connector are all the same on notch, the notch plane of symmetry of two branch in outside fork
Between angle be 150 ° (180 ° -360 °/12=150 °), the notch plane of symmetry and the notch of interior collateral fork of lateral branch fork are symmetrical
Angle between face can according to need artificial settings, and angle is acute angle, be set as 50 ° (α=50 °) here；Underlay nodes
Revolute pair axis and 3 central axis distance m of underlay nodes connector are all the same on each branch fork pockets mouth of connector 3, two, outside branch
The notch plane of symmetry of fork is 210 ° (180 °+360 °/12=210 °) in the angle close to interior collateral fork side, close to intermediate symmetry
Angle between the notch plane of symmetry of two branch fork of plane is 80 ° (180 ° -2 × 50 °=80 °)；Underlay nodes connector 3 is each
Revolute pair axis and 3 central axis distance of underlay nodes connector and each branch fork pockets mouth of outer layer node connector 1 on branch fork pockets mouth
Upper revolute pair axis and 1 central axis ratio of distances constant of outer layer node connector are m/n=0.56 ((1-cos50)/cos50=
0.56)。
As shown in Figure 5-Figure 8, connecting the revolute pairs of two intermediate connecting rods 4, it is divided into two sections by each intermediate connecting rod, and interior
The ratio between one section connected of length l of node layer connector 3 and one section of length L being connected with outer layer node connector 1 are l/L=
0.56 ((1-cos50)/cos50=0.56)；2 rod length L of outer layer connecting rod can according to need artificial settings, but outer layer connects
The rod length of bar 2 is less than one section of length connecting on intermediate connecting rod 4 with outer layer node connector 1；Internal layer connecting rod rod piece
The ratio between length p and outer layer connecting rod rod length q are p/q=0.89 (sin (90-180/12-50)/cos50=0.89).
In Fig. 1-packing forms single-degree-of-freedom hoop truss deployable antenna mechanism stereoscopic schematic diagram shown in Fig. 8 and
It is same outer in outer layer single-degree-of-freedom deployable mechanism unit A and the stereoscopic schematic diagram of internal layer single-degree-of-freedom deployable mechanism unit B
The revolute pair axis connected on four outer layer connecting rods 2 in layer single-degree-of-freedom deployable mechanism unit A is parallel；Same internal layer list
The revolute pair axis connected on four internal layer connecting rods 5 in freedom degree deployable mechanism unit B is parallel；Outer layer single-degree-of-freedom can
The turns auxiliary shaft connected on same group of intermediate connecting rod 4 in unfolding mechanism unit A and internal layer single-degree-of-freedom deployable mechanism unit B
Line is parallel.
In Fig. 1-packing forms single-degree-of-freedom hoop truss deployable antenna mechanism stereoscopic schematic diagram shown in Fig. 4, lead to
Cross the quantity N and the wherein length of rod piece for changing inside and outside layer single-degree-of-freedom deployable mechanism unit in overall mechanism, Ke Yigai
Become the size that integral unit array type single freedom degree hoop truss deployable antenna mechanism is fully deployed rear bore；It is rotated when passing through
When the connected two internal layer connecting rods 5 and conllinear two outer layer connecting rods 2 of pair, overall mechanism reaches fully unfolded position, at this time its
In Singular position shape state, mechanism degeneration is the structure that freedom degree is 0, can cancel themselves out external force by the rod piece in structure
Effect, it is whole that there is the preferable rigidity of structure and mechanical property without providing additional driving moment.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (5)
1. a kind of packing forms single-degree-of-freedom hoop truss deployable antenna mechanism, it is characterised in that: certainly comprising N number of outer layer list
By degree deployable mechanism unit and N number of internal layer single-degree-of-freedom deployable mechanism unit, wherein N is the integer more than or equal to 3, described
Outer layer single-degree-of-freedom deployable mechanism unit includes four outer layer node connectors, two underlay nodes connectors, four centres
Connecting rod and four outer layer connecting rods, the internal layer single-degree-of-freedom deployable mechanism unit include four underlay nodes connectors, two
A outer layer node connector, four intermediate connecting rods and four internal layer connecting rods, the outer layer single-degree-of-freedom deployable mechanism unit
With the internal layer single-degree-of-freedom deployable mechanism unit by two shared intermediate connecting rods, two underlay nodes connectors and
Two outer layer node connectors are mutually interspersed and array is arranged, collectively constitute multi-panel formula hoop truss mechanism.
2. packing forms single-degree-of-freedom hoop truss deployable antenna according to claim 1 mechanism, it is characterised in that:
In pairs, every group of one end is connected four outer layer connecting rods by revolute pair, and in addition two outer node layers are inserted at both ends respectively
It is connected in the notch that lateral branch is pitched in connector and by revolute pair；In pairs, every group of one end is by turning for four internal layer connecting rods
Dynamic secondary connection, in addition both ends are inserted into the notch that lateral branch is pitched in two underlay nodes connectors respectively and are connected by revolute pair
It connects；In pairs, every group is connected by revolute pair four intermediate connecting rods, and four free ends after connection are inserted into respectively outside two
In the notch of the branch fork of the close intermediate symmetry plane of node layer connector and two underlay nodes connectors and pass through revolute pair
Connection；Four outer layer nodal-connection structures are identical, and each outer layer node connector is all provided with there are four branch fork, and generally face is symmetrical
Structure, each side there are two branch to pitch for intermediate symmetry plane, and a notch, two branch fork in outside are provided on each fork
For being inserted into outer layer connecting rod and being connected by revolute pair, two branch fork close to intermediate symmetry plane is used to be inserted into intermediate connecting rod simultaneously
It is connected by revolute pair；Two underlay nodes connecting-piece structures are identical, and each underlay nodes connector is all provided with there are four branch fork, whole
Body is face symmetrical structure, and each side there are two branch to pitch for intermediate symmetry plane, is provided with a notch, outside on each fork
Two branch fork be used to be inserted into internal layer connecting rod and connected by revolute pair, two branch fork close to intermediate symmetry plane is for being inserted into
Intermediate connecting rod is simultaneously connected by revolute pair.
3. packing forms single-degree-of-freedom hoop truss deployable antenna according to claim 2 mechanism, it is characterised in that:
Revolute pair axis is with outer layer node connector central axis apart from all the same, outside two on each branch fork pockets mouth of outer layer node connector
Angle between the notch plane of symmetry of a branch fork is (180-360/N) °, the notch plane of symmetry of lateral branch fork and the slot of interior collateral fork
Angle between the mouth plane of symmetry is set as needed, and angle is acute angle, is set as α；Each branch fork pockets mouth of underlay nodes connector
Upper revolute pair axis and underlay nodes connector central axis are apart from all the same, and the notch plane of symmetry of two branch in outside fork is close
The angle of interior collateral fork side is (180+360/N) °, between the notch plane of symmetry of two branch fork of intermediate symmetry plane
Angle is (180 ° of -2 α)；Revolute pair axis and underlay nodes connector central axis on each branch fork pockets mouth of underlay nodes connector
Revolute pair axis is with outer layer node connector central axis ratio of distances constant in distance and each branch fork pockets mouth of outer layer node connector
((1-cosα)/cosα)。
4. packing forms single-degree-of-freedom hoop truss deployable antenna according to claim 2 mechanism, it is characterised in that:
Connecting the revolute pairs of two intermediate connecting rods, it is divided into two sections by each intermediate connecting rod, one section to be connected with underlay nodes connector
Length and one section of length ratio being connected with outer layer node connector are ((1-cos α)/cos α)；Outer layer connecting rod rod length
It is set as needed, the rod length of outer layer connecting rod is less than one section of length connecting on intermediate connecting rod with outer layer node connector
Degree；Internal layer connecting rod rod length and outer layer connecting rod rod piece length ratio are (sin (90-180/N- α)/cos α).
5. packing forms single-degree-of-freedom hoop truss deployable antenna according to claim 2 mechanism, it is characterised in that:
The revolute pair axis connected on four outer layer connecting rods in same outer layer single-degree-of-freedom deployable mechanism unit is parallel；In same
The revolute pair axis connected on four internal layer connecting rods in layer single-degree-of-freedom deployable mechanism unit is parallel；Outer layer single-degree-of-freedom
The turns auxiliary shaft connected on same group of intermediate connecting rod in deployable mechanism unit and internal layer single-degree-of-freedom deployable mechanism unit
Line is parallel.
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|---|---|---|---|
| CN201910046770.2A CN109638413B (en) | 2019-01-18 | 2019-01-18 | Unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism |
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|---|---|---|---|
| CN201910046770.2A CN109638413B (en) | 2019-01-18 | 2019-01-18 | Unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism |
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| CN109638413B CN109638413B (en) | 2023-09-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114044168A (en) * | 2021-11-23 | 2022-02-15 | 清华大学 | Spatial extensible basic unit and spatial polygonal prism extensible mechanism constructed by same |
| CN114180101A (en) * | 2021-11-23 | 2022-03-15 | 清华大学 | Truss type telescopic arm mechanism and planar expandable truss array |
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| CN114044168B (en) * | 2021-11-23 | 2024-01-26 | 清华大学 | Spatially expandable base unit and spatially polygonal column expandable mechanism constructed thereof |
| CN114180101B (en) * | 2021-11-23 | 2024-01-30 | 清华大学 | Truss type telescopic arm mechanism and planar expandable truss array |
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