CN110707412A - High-folding-ratio double-layer annular deployable antenna mechanism based on straight quadrangular unit - Google Patents
High-folding-ratio double-layer annular deployable antenna mechanism based on straight quadrangular unit Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H—ELECTRICITY
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Abstract
The invention provides a high-folding-unfolding-ratio double-layer annular deployable antenna mechanism based on straight quadrangular units, which comprises a plurality of same straight quadrangular units, wherein each straight quadrangular unit is fixedly connected by an upper layer of deployable modules and a lower layer of deployable modules which are in mirror symmetry through four connecting rods, a plurality of adjacent straight quadrangular units are networked, each adjacent straight quadrangular unit shares a No. 1 faceplate, a No. 1 connecting block and a No. 1 connecting rod, all the connecting lines in sequence of the central points of the No. 1 connecting rods share a regular polygon, and the No. 3 faceplate and the No. 4 faceplate on the same layer of each adjacent straight quadrangular unit are connected through a series chain containing three parallel revolute pairs and two equal-length rods. The invention has the beneficial effects that: the joint parts are connected by adopting revolute pairs, so that the cold welding phenomenon of the mechanism in the motion process is reduced; the adoption of the straight prism unit has the advantages of high stability, large folding-unfolding ratio, high rigidity and simple assembly.
Description
Technical Field
The invention relates to the technical field of deployable antennas, in particular to a high-folding-ratio double-layer annular deployable antenna mechanism based on a straight quadrangular prism unit.
Background
With the development of aerospace science and technology, the technical requirements on aerospace deployable antennas are higher and higher, and the requirements on the application types of the deployable antennas are also more and more complex. The space deployable antenna is a novel space structure generated along with the rapid development of aerospace technology in the last two thirty years, and is researched by international research institutions, colleges and universities and civil aviation and aerospace companies. The large-scale satellite-borne deployable antenna has the characteristics of large caliber, light weight, high precision, large accommodation ratio and the like, and is considered by many researchers to be an ideal aerospace deployable structure form at present.
Because the storage space of the carrier rocket is limited, the smaller the antenna storage volume of the satellite is, the better the antenna storage volume is, namely the smaller the antenna storage volume is, the better the antenna storage volume is, under the condition of the same diameter and height, the smaller the antenna storage volume is required to be. The annular deployable mechanism is used as a deployable antenna truss, and determines the furled volume of the whole antenna when being folded, so that the annular deployable mechanism with the characteristics of large folding-unfolding ratio, good stability and the like has a far-reaching research significance.
The existing deployable antenna truss has the defects of poor stability, low rigidity, large deployment elasticity, small storage ratio, complex control, limited folding and unfolding range and easy cold welding in space. Such as:
chinese patent (CN 110085964 a) discloses a mesh annular deployable antenna and an antenna truss, and chinese patent (CN 109687091 a) discloses a pyramid unit array annular truss deployable antenna mechanism, which all belong to a single-layer annular structure, and have the disadvantages of small rigidity, poor stability, large elasticity and poor reliability when the mechanism is deployed;
chinese patent (CN 109659661A) discloses a cable-rod tension type annular deployable antenna mechanism, and Chinese patent (CN 109659659A) discloses an annular truss type deployable antenna mechanism based on a 3R-RRP mechanism unit, which all contain sliding pairs, and have the defect that the deployable antenna is easy to be cold-welded in low-temperature environment in space, so that the whole deployable antenna cannot be effectively deployed;
chinese patent (CN 106025484B) discloses a scissor linkage type double-layer annular truss expandable antenna mechanism, Chinese patent (CN 108281747A) discloses a scissor linkage type overconstrained double-layer annular truss expandable antenna mechanism, and the defects are that a spatial overconstrained scissor fork mechanism is adopted to construct the antenna mechanism which has high assembly difficulty and is easy to generate local stress concentration; in addition, the space scissor fork mechanism is easy to interfere with the rod piece when being folded, so that the folding-unfolding ratio is limited.
Chinese patent (CN 105071012B) discloses a space-expandable annular tensioning integral antenna mechanism, Chinese patent (CN 106785306B) discloses a rope-driven scissors truss structure, and the defects of the mechanisms are that multiple degrees of freedom exist, the synchronous expansion of the whole mechanism cannot be effectively ensured, the expansion failure of the mechanism is caused, the control is complex, and the manufacturing cost of the whole antenna is very high;
chinese patent (CN 106586037 a) discloses a repeatable expansion frame type expansion mechanism, which belongs to a linear motion mechanism, and can only realize the folding and unfolding in one direction, but not the circumferential folding and unfolding, and the folding and unfolding range in space is limited.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a high-folding-ratio double-layer annular deployable antenna mechanism based on a straight quadrangular prism unit, which has a large folding-ratio, high stability, high rigidity, and simple assembly.
The embodiment of the invention provides a high-folding-ratio double-layer annular deployable antenna mechanism based on straight quadrangular units, which comprises a plurality of same straight quadrangular units; the right quadrangular prism unit comprises an upper layer of expandable modules and a lower layer of expandable modules which are in mirror symmetry, and a No. 1 connecting rod, a No. 2 connecting rod, a No. 3 connecting rod and a No. 4 connecting rod which are used for fixedly connecting the two layers of expandable modules; the lower-layer expandable module comprises a flower disc No. 1, a flower disc No. 2, a connecting block No. 1, a connecting block No. 2, a first short rod, a second short rod, a first long rod, a second long rod, a flower disc No. 3, a flower disc No. 4, a connecting block No. 3, a connecting block No. 4, a third short rod, a fourth short rod, a third long rod, a fourth long rod, a first synchronizing rod, a second synchronizing rod, a third synchronizing rod, a fourth synchronizing rod and a middle platform; the No. 1 connecting block and the No. 1 faceplate are fixedly connected, the No. 2 connecting block and the No. 2 faceplate are fixedly connected, the No. 3 connecting block and the No. 3 faceplate are fixedly connected, and the No. 4 connecting block and the No. 4 faceplate are fixedly connected; the number 1 flower disc is connected with the first short rod through a first revolute pair, the number 2 flower disc is connected with the second short rod through a sixth revolute pair, the first long rod is connected with the number 2 flower disc through a seventh revolute pair, the number 3 flower disc is connected with the second long rod through a ninth revolute pair, the third short rod is connected with the number 3 flower disc through a tenth revolute pair, the number 4 flower disc is connected with the fourth short rod through a fifth revolute pair, the third long rod is connected with the number 4 flower disc through a fourth revolute pair, the fourth long rod is connected with the number 1 flower disc through a second revolute pair, the first synchronizing rod is connected with the intermediate platform through an eleventh revolute pair, the second synchronizing rod is connected with the intermediate platform through a twelfth revolute pair, the third synchronizing rod is connected with the intermediate platform through a thirteenth revolute pair, and the fourth synchronizing rod is connected with the intermediate platform through a fourteenth revolute pair; the second short rod is connected with the first short rod, the second long rod is connected with the first long rod, the fourth short rod is connected with the third short rod, the fourth long rod is connected with the third long rod, the first synchronizing rod is connected with the No. 1 connecting block, the second synchronizing rod is connected with the No. 2 connecting block, the third synchronizing rod is connected with the No. 3 connecting block, and the fourth synchronizing rod is connected with the No. 4 connecting block through revolute pairs; the four synchronous rods have the same structure, the four short rods have the same length, and the four long rods have the same length; the axial line of the first rotating pair is vertical to the axial line of the second rotating pair, the axial line of the fourth rotating pair is vertical to the axial line of the fifth rotating pair, the axial line of the sixth rotating pair is vertical to the axial line of the seventh rotating pair, the axial line of the ninth rotating pair is vertical to the axial line of the tenth rotating pair, the axial lines of the first rotating pair, the fifth rotating pair, the sixth rotating pair and the tenth rotating pair are parallel to each other, the axial lines of the second rotating pair, the fourth rotating pair, the seventh rotating pair and the ninth rotating pair are parallel to each other, and the axial line of the rotating pair on the No. 1 connecting block, the axial line of the eleventh rotating pair, the axial line of the thirteenth rotating pair and the axial line of the rotating pair on the No. 3 connecting block are parallel to each other, and the axial line of the rotating pair on the No. 2 connecting block, the axial line of the twelfth rotating pair, the axial line of the fourteenth rotating pair and the axial line of the rotating pair on the No. 4 connecting block are parallel to each other; the joints of the upper-layer expandable module and the lower-layer expandable module are connected in the same way; the connecting rod No. 1 and the connecting block No. 1, the connecting rod No. 2 and the connecting block No. 2, the connecting rod No. 3 and the connecting block No. 3 and the connecting rod No. 4 and the connecting block No. 4 are fixedly connected; the four connecting rods have the same structure and are parallel to each other.
A plurality of straight quadrangular prism units are connected with a network, and every two adjacent straight quadrangular prism units share the No. 1 faceplate, the No. 1 connecting block and the No. 1 connecting rod; all the common connecting rods No. 1 have their central points connected successively to form one regular polygon; the No. 3 flower disc and the No. 4 flower disc on the same layer of each adjacent straight quadrangular unit are connected through a serial chain comprising three parallel revolute pairs and two equal-length rods; the networking is characterized in that the networking is provided with an inner layer and an outer layer, the inner layer is a regular prism, the outer layer is a prism, the number of the straight quadrangular prism units is the same as that of the sides of the bottom surface of the regular prism, and the number of the series chains is the same as that of the straight quadrangular prism units.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: the high-folding-unfolding-ratio double-layer annular expandable antenna mechanism based on the straight quadrangular prism units has good folding and unfolding stability and high rigidity, and can meet the use rigidity requirement of a space folding and unfolding antenna; the invention has large folding-unfolding ratio and smaller elasticity in the unfolding process; the joint parts of the whole mechanism are connected by adopting revolute pairs, move with single degree of freedom, are simple to control, have high reliability and simple to assemble, and can avoid the problem that metal in low-temperature environment in space is easy to cold weld when being used as a satellite-borne deployable antenna.
Drawings
FIG. 1 is a schematic diagram of a high-folding-ratio dual-layer circular deployable antenna mechanism based on a right quadrangular prism unit according to the present invention;
FIG. 2 is a schematic view of the right quadrangular prism unit M of FIG. 1;
FIG. 3 is a schematic diagram of the tandem chain L of FIG. 1;
FIG. 4 is a schematic diagram of two rectangular prism units M and a series chain L in FIG. 1;
FIG. 5 is a schematic diagram of a fully deployed high-fold-ratio dual-layer circular deployable antenna mechanism based on rectangular prism units according to the present invention;
fig. 6 is a schematic diagram of a fully folded state of a high-folding-ratio dual-layer circular deployable antenna mechanism based on a rectangular prism unit according to the present invention.
In the figure: m-straight quadrangular prism unit, N-expandable module, No. A1-1 faceplate, No. A2-2 faceplate, B1-first short rod, B2-second long rod, B3-third short rod, B4-fourth short rod, C1-first long rod, C2-second long rod, C3-third long rod, C4-fourth long rod, D1-3 faceplate, D2-4 faceplate, E1-first synchronizing rod, E2-second synchronizing rod, E3-third synchronizing rod, E4-fourth synchronizing rod, F1-1 connecting block, F2-2 connecting block, G1-3 connecting block, G2-4 connecting block, H-middle platform, U1-1 connecting rod, U2-2 connecting rod, U3-3 connecting rod, U4-4 connecting rod, R1-first revolute pair, R2-second revolute pair, R3-third revolute pair, R4-fourth revolute pair, R5-fifth revolute pair, R6-sixth revolute pair, R7-seventh revolute pair, R8-eighth revolute pair, R9-ninth revolute pair, R10-tenth revolute pair, R11-eleventh revolute pair, R12-twelfth revolute pair, R13-thirteenth revolute pair, R14-fourteenth revolute pair and L-series chain.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a high-folding-ratio dual-layer circular deployable antenna mechanism based on straight quadrangular prism units, which includes a plurality of identical straight quadrangular prism units M.
Referring to fig. 2, the rectangular prism unit M includes upper and lower expandable modules N in mirror symmetry, and a connecting rod U1 No. 1, a connecting rod U2 No. 2, a connecting rod U3 No. 3 and a connecting rod U4 No. 4 for fixedly connecting the two expandable modules N;
the lower deployable unit N comprises a No. 1 faceplate A1, a No. 2 faceplate A2, a No. 1 connecting block F1, a No. 2 connecting block F2, a first short rod B1, a second short rod B2, a first long rod C1, a second long rod C2, a No. 3 faceplate D1, a No. 4 faceplate D2, a No. 3 connecting block G1, a No. 4 connecting block G2, a third short rod B3, a fourth short rod B4, a third long rod C3, a fourth long rod C4, a first synchronizing rod E1, a second synchronizing rod E2, a third synchronizing rod E3, a fourth synchronizing rod E4 and a middle platform H; the No. 1 connecting block F1 and the No. 1 faceplate A1, the No. 2 connecting block F2 and the No. 2 faceplate A2, the No. 3 connecting block G1 and the No. 3 faceplate D1 and the No. 4 connecting block G2 and the No. 4 faceplate D2 are fixedly connected; the above-mentioned number 1 floral disc a1 and first short bar B1 are connected through first revolute pair R1, number 2 floral disc a2 and second short bar B2 are connected through sixth revolute pair R2, first long bar C2 and number 2 floral disc a2 are connected through seventh revolute pair R2, number 3 floral disc D2 and second long bar C2 are connected through ninth revolute pair R2, third short bar B2 and number 3 floral disc D2 are connected through tenth revolute pair R2, number 4 floral disc D2 and fourth short bar B2 are connected through fifth revolute pair R2, third long bar C2 and number 4 floral disc D2 are connected through fourth revolute pair R2, fourth long bar C2 and number 1 floral disc a2 are connected through second revolute pair R2, first synchronizing bar E2 and intermediate platform H are connected through eleventh revolute pair R2, second synchronizing bar C2 and intermediate stage H2 are connected through fourteenth synchronizing pair R2, and intermediate stage 2 are connected through fourteenth synchronizing pair R2 and intermediate stage 2; the second short rod B2 is connected with the first short rod B1, the second long rod C2 is connected with the first long rod C1, the fourth short rod B4 is connected with the third short rod B3, the fourth long rod C4 is connected with the third long rod C3, the first synchronizing rod E1 is connected with the No. 1 connecting block F1, the second synchronizing rod E2 is connected with the No. 2 connecting block F2, the third synchronizing rod E3 is connected with the No. 3 connecting block G1, and the fourth synchronizing rod E4 is connected with the No. 4 connecting block G2 through revolute pairs; the four synchronous rods have the same structure, the four short rods have the same length, and the four long rods have the same length; the axis of the first revolute pair R1 is perpendicular to the axis of the second revolute pair R2, the axis of the fourth revolute pair R4 is perpendicular to the axis of the fifth revolute pair R5, the axis of the sixth revolute pair R6 is perpendicular to the axis of the seventh revolute pair R7, the axis of the ninth revolute pair R9 is perpendicular to the axis of the tenth revolute pair R10, the axis of the first revolute pair R1, the axis of the fifth revolute pair R5, the axis of the sixth revolute pair R6 and the axis of the tenth revolute pair R10 are parallel to each other, the axis of the second revolute pair R2, the axis of the fourth revolute pair R4, the axis of the seventh revolute pair R7 and the axis of the ninth revolute pair R42 are parallel to each other, the axis of the revolute pair on joint block No. 1F 1, the axis of the eleventh revolute pair R11, the axis of the thirteenth revolute pair R13 and the axis of the joint block No. 3G 5 are parallel to each other, the axis of the joint block F2, the axis of the twelfth revolute pair R57324, The axis of the fourteenth revolute pair R14 and the axis of the revolute pair on the No. 4 connecting block G2 are parallel to each other; the upper layer expandable unit N is connected with the lower layer expandable unit N through the same joint; the connecting rod 1 and the connecting block 1F 1, the connecting rod 2U 2 and the connecting block 2F 2, the connecting rod 3U 3 and the connecting block 3G 1 and the connecting rod 4U 4 and the connecting block 4G 2 are fixedly connected; the four connecting rods have the same structure and are parallel to each other.
Referring to fig. 1 and 4, all the straight quadrangular prism units M are connected and networked, specifically: firstly, every two adjacent straight quadrangular prism units M share a No. 1 faceplate A1, a No. 1 connecting block F1 and a No. 1 connecting rod U1; secondly, the central points of all the common No. 1 connecting rods U1 are connected in sequence to form a regular polygon; finally, the No. 3 flower disc D1 and the No. 4 flower disc D2 on the same layer of each adjacent straight quadrangular prism unit M are connected through a serial chain L comprising three parallel revolute pairs and two equal-length rods; the networking is characterized in that the networking is provided with an inner layer and an outer layer, the inner layer is a regular prism, the outer layer is a prism, the number of the straight quadrangular prism units M is the same as that of the sides of the bottom surface of the regular prism, and the number of the series chains L is the same as that of the straight quadrangular prism units M.
Referring to fig. 5, each of the right quadrangular prism units M of the high folding-unfolding ratio dual-layer circular deployable antenna mechanism based on the right quadrangular prism units of the present invention is completely unfolded, so as to achieve the unfolding of the whole antenna mechanism. Referring to fig. 6, each of the right quadrangular prism units M of the high folding-unfolding-ratio dual-layer circular deployable antenna mechanism based on the right quadrangular prism units of the present invention is completely folded, so as to achieve the folding of the whole antenna mechanism. The high-folding-unfolding-ratio double-layer annular expandable antenna mechanism based on the straight quadrangular prism units is designed in a double-layer structure, all moving joints are connected by adopting revolute pairs, the whole mechanism is in a single degree of freedom, the folding and unfolding are carried out in the circumferential direction, the expansion range is larger, and the mechanism has good stability in the folding and unfolding process.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. The utility model provides a but high roll over exhibition is than double-deck annular antenna mechanism that expands based on straight quadrangular unit which characterized in that: the foldable rectangular prism module comprises a plurality of identical rectangular prism units (M), wherein each rectangular prism unit (M) comprises an upper layer of expandable module (N) and a lower layer of expandable module (N) which are in mirror symmetry, and a No. 1 connecting rod (U1), a No. 2 connecting rod (U2), a No. 3 connecting rod (U3) and a No. 4 connecting rod (U4) which are used for fixedly connecting the two expandable modules (N); the lower-layer deployable module (N) comprises a No. 1 faceplate (A1), a No. 2 faceplate (A2), a No. 1 connecting block (F1), a No. 2 connecting block (F2), a first short rod (B1), a second short rod (B2), a first long rod (C1), a second long rod (C2), a No. 3 faceplate (D1), a No. 4 faceplate (D2), a No. 3 connecting block (G1), a No. 4 connecting block (G2), a third short rod (B3), a fourth short rod (B4), a third long rod (C3), a fourth long rod (C4), a first synchronizing rod (E1), a second synchronizing rod (E2), a third synchronizing rod (E3), a fourth synchronizing rod (E4) and an intermediate platform (H); the No. 1 connecting block (F1) is fixedly connected with the No. 1 faceplate (A1), the No. 2 connecting block (F2) is fixedly connected with the No. 2 faceplate (A2), the No. 3 connecting block (G1) is fixedly connected with the No. 3 faceplate (D1), and the No. 4 connecting block (G2) is fixedly connected with the No. 4 faceplate (D2); the No. 1 faceplate (A1) is connected with a first short rod (B1) through a first revolute pair (R1), the No. 2 faceplate (A2) is connected with a second short rod (B2) through a sixth revolute pair (R6), a first long rod (C1) is connected with a No. 2 faceplate (A2) through a seventh revolute pair (R7), a No. 3 faceplate (D1) is connected with a second long rod (C2) through a ninth revolute pair (R9), a third short rod (B3) is connected with a No. 3 faceplate (D1) through a tenth revolute pair (R10), a No. 4 faceplate (D2) is connected with a fourth short rod (B2) through a fifth revolute pair (R2), a third long rod (C2) is connected with a No. 4 faceplate (D2) through a fourth revolute pair (R2), a fourth long rod (C2) is connected with a fourth short rod (B2) through an eleventh revolute pair (R2), a twelfth revolute pair (R2) is connected with a twelfth rotary pair (R2), a twelfth rotary pair (R2) is connected with a twelfth rotary pair (R2), and a twelfth rotary pair (R2) is connected with a twelfth rotary pair (C2) through a twelfth rotary pair (C2) and a twelfth rotary pair (2) and a twelfth, the third synchronizing rod (E3) is connected with the middle platform (H) through a thirteenth revolute pair (R13), and the fourth synchronizing rod (E4) is connected with the middle platform (H) through a fourteenth revolute pair (R14); the second short rod (B2) is connected with the first short rod (B1), the second long rod (C2) is connected with the first long rod (C1), the fourth short rod (B4) is connected with the third short rod (B3), the fourth long rod (C4) is connected with the third long rod (C3), the first synchronizing rod (E1) is connected with the No. 1 connecting block (F1), the second synchronizing rod (E2) is connected with the No. 2 connecting block (F2), the third synchronizing rod (E3) is connected with the No. 3 connecting block (G1), and the fourth synchronizing rod (E4) is connected with the No. 4 connecting block (G2) through revolute pairs; the four synchronous rods have the same structure, the four short rods have the same length, and the four long rods have the same length; the axis of the first revolute pair (R1) is perpendicular to the axis of the second revolute pair (R2), the axis of the fourth revolute pair (R4) is perpendicular to the axis of the fifth revolute pair (R5), the axis of the sixth revolute pair (R6) is perpendicular to the axis of the seventh revolute pair (R7), the axis of the ninth revolute pair (R9) is perpendicular to the axis of the tenth revolute pair (R10), the axis of the first revolute pair (R1), the axis of the fifth revolute pair (R5), the axis of the sixth revolute pair (R6) and the axis of the tenth revolute pair (R10) are parallel to each other, the axis of the second revolute pair (R2), the axis of the fourth revolute pair (R4), the axis of the seventh revolute pair (R7) and the axis of the ninth revolute pair (R9) are parallel to each other, the axis of the revolute pair (R1) on No. 1, the axis of the eleventh revolute pair (R11) and the axis of the ninth revolute pair (R13), the axis of the revolute pair on the No. 2 connecting block (F2), the axis of the twelfth revolute pair (R12), the axis of the fourteenth revolute pair (R14) and the axis of the revolute pair on the No. 4 connecting block (G2) are parallel to each other; the upper layer expandable module (N) is connected with the joints of the lower layer expandable module (N) in the same way; the connecting rod No. 1 and the connecting block No. 1 (F1), the connecting rod No. 2 (U2) and the connecting block No. 2 (F2), the connecting rod No. 3 (U3) and the connecting block No. 3 (G1) and the connecting rod No. 4 (U4) and the connecting block No. 4 (G2) are fixedly connected; the four connecting rods have the same structure and are parallel to each other; every two adjacent straight quadrangular prism units (M) share a No. 1 faceplate (A1), a No. 1 connecting block (F1) and a No. 1 connecting rod (U1); the central points of all the common No. 1 connecting rods (U1) are connected in sequence to form a regular polygon; the No. 3 flower disc (D1) and the No. 4 flower disc (D2) on the same layer of each adjacent straight quadrangular prism unit (M) are connected through a serial chain (L) comprising three parallel revolute pairs and two equal-length rods; the networking is characterized in that the networking is provided with an inner layer and an outer layer, the inner layer is a regular prism, the outer layer is a prism, the number of the straight quadrangular unit (M) is the same as that of the sides of the bottom surface of the regular prism, and the number of the series chains (L) is the same as that of the straight quadrangular unit (M).
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| CN113071710A (en) * | 2021-04-20 | 2021-07-06 | 北京航空航天大学 | Method for fitting cylindrical surface based on isosceles trapezoid cross section straight quadrangular mechanism |
| CN114024121A (en) * | 2021-11-16 | 2022-02-08 | 江苏科技大学 | Array folding and unfolding antenna mechanism based on rectangular pyramid unit |
| 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 |
| CN114313647A (en) * | 2021-12-27 | 2022-04-12 | 福州大学 | Expandable foldable single-degree-of-freedom polygonal prism |
| CN114575461A (en) * | 2022-03-16 | 2022-06-03 | 中山大学 | Nested annular tensioning integral structure spliced in modularization mode |
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| 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 |
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| CN111496819A (en) * | 2020-06-16 | 2020-08-07 | 山东大学 | Scalable robot trunk and bionic quadruped robot |
| CN111496819B (en) * | 2020-06-16 | 2021-08-24 | 山东大学 | Scalable robot trunk and bionic quadruped robot |
| CN112407335A (en) * | 2020-12-10 | 2021-02-26 | 长春工业大学 | Extensible mechanism based on integral tensioning structure |
| CN113071710A (en) * | 2021-04-20 | 2021-07-06 | 北京航空航天大学 | Method for fitting cylindrical surface based on isosceles trapezoid cross section straight quadrangular mechanism |
| CN114024121A (en) * | 2021-11-16 | 2022-02-08 | 江苏科技大学 | Array folding and unfolding antenna mechanism based on rectangular pyramid unit |
| CN114024121B (en) * | 2021-11-16 | 2023-11-21 | 江苏科技大学 | Array type folding and unfolding antenna mechanism based on rectangular pyramid units |
| 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 |
| CN114044168B (en) * | 2021-11-23 | 2024-01-26 | 清华大学 | Spatially expandable base unit and spatially polygonal column expandable mechanism constructed thereof |
| CN114313647A (en) * | 2021-12-27 | 2022-04-12 | 福州大学 | Expandable foldable single-degree-of-freedom polygonal prism |
| CN114575461A (en) * | 2022-03-16 | 2022-06-03 | 中山大学 | Nested annular tensioning integral structure spliced in modularization mode |
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