CN117709071A - Method and system for constructing compact space folding array model based on three-pump folding paper - Google Patents
Method and system for constructing compact space folding array model based on three-pump folding paper Download PDFInfo
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Abstract
The invention relates to the technical field of folding and unfolding model construction, and particularly discloses a method and a system for constructing a compact space folding and unfolding array model based on three-pump folding paper, wherein the method comprises the following steps: based on four groups of identical three-pump paper folding, constructing a zero-thickness paper folding model; carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model; and designing a four-bar linkage according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model from 5 to 1 by using the four-bar linkage to obtain the compact space folded array model. The folded array model constructed by the invention is suitable for various spacecrafts needing large-area planar arrays, has high space utilization rate and high folding ratio, and can effectively reduce the cost of space tasks.
Description
Technical Field
The invention relates to the technical field of folding and unfolding model construction, in particular to a method and a system for constructing a compact space folding and unfolding array model based on three-pump folding paper.
Background
From space solar energy utilization to satellite communication, from space station construction to deep space exploration tasks, the expandable structure plays an increasingly important role in aerospace engineering. In various expandable structures, the rigid thick plate paper folding mechanism has the advantages of convenient dynamic modeling, less motion freedom, high profile precision, good rigidity and stability in and after expansion and the like, and has wide application prospect and design potential because of being concerned by researchers in recent years. The rigid thick plate paper folding mechanism inherits two characteristic properties of a mathematical ideal zero-thickness paper folding model: equidistant, namely the shortest distance between two points on the panel can not change along with folding, and the deformation of the panel under the design load can be ignored in engineering; uniqueness, i.e., the inability of the panels to intersect during folding, occurs. Under such assumption, the panel is only allowed to rotate along the crease line. However, unlike the zero thickness paper folding model, the rigid thick plate paper folding mechanism considers that the panel has limited thickness, and the movement form of directly applying the zero thickness paper folding model can cause physical interference. Therefore, rigid thick plate paper folding mechanisms are typically obtained using suitable thick plate technology based on zero thickness paper folding patterns. Such as a Resch paper fold, a Flacher paper fold, a Waterbottom paper fold, and a three-ply paper fold. Specifically:
1) On the premise that the mechanism can move from an unfolding state to a folding state and no physical interference occurs, the folding and unfolding unit can be used as a design target to infinitely superpose and group a net, constraint conditions which are required to be met by geometric parameters of analysis components are explained, principles and processes of a large-scale thick plate three-pump folding and unfolding mechanism are explained, and two module expansion modes of Bennett networking and mixed networking are provided. The space large-scale deployable solar wing designed by using the model is arranged at two sides of the spacecraft. In the unfolding plane, the sizes of the single solar wing in the two states of complete folding and unfolding are respectively 1.07m multiplied by 0.144m and 1.9m multiplied by 5.2m, the total working area of the unfolded solar wing is 18.34m & lt 2 & gt, and the folding-unfolding ratio is 60. However, this model has the following drawbacks:
(1) irregular appearance: in the model, the folded solar wing module is approximately in a rectangular trapezoid column shape and is mounted on two sides of the spacecraft in the long side direction. The overall appearance of the spacecraft is uneven, and the long side direction is far larger than the other two sides, which brings difficulty to transportation and loading.
(2) The space utilization rate is low: in this model, researchers use the unfolding area and folding area of the solar wing itself to calculate the folding ratio, and this algorithm lacks practical significance. Because the solar wing and spacecraft body are connected together during firing, the total volume of both should be calculated. The irregular overall shape of the spacecraft in this solution results in a significant proportion of the transport space being wasted, no matter what shape of envelope geometry is chosen for loading. This is contrary to the underlying purpose of the folding and unfolding mechanism.
2) Zirbel et al and Bolanos et al thick the Flacher paper, successfully created a folded array model with high folded area ratios and high folded diameter ratios. The Flacher paper folding forms regular polygon after being unfolded, and can be tightly wrapped in a cylinder after being folded, so that the folding paper folding device is very suitable for being applied to the aerospace field with high space cost. Currently, this model has been used for the design of a mask in NASA-series outer planetary exploration tasks. However, this model has the following drawbacks:
(1) difficulty in calculation and poor design flexibility: the geometric model of the thick-plate flashr paper folding is very complex, constraint conditions are numerous, node coordinates are obtained through complex operation, and visual reference cannot be provided for design. On the other hand, many design parameters can only be taken as discrete values, and the intermediate state can not obtain a model conforming to the constraint, so that the degree of freedom and flexibility of the design are greatly reduced.
(2) The degree of freedom is excessive, and the unfolding path lacks mechanical constraint: the flashr paper folding and planking method proposed by Zirbel et al requires the addition of creases to the quadrilateral panels, changing the mechanism into a combination of triangular panels. This approach allows multiple degrees of freedom of the mechanism, the deployment path is not unique, and a suitable drive scheme must be designed to properly deploy the plane. However, too complex drive control involves a risk that if the force application and sequence deviate, the mechanism may become stuck or torn.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a system for constructing a compact space folding array model based on three-pump folding paper.
In a first aspect, the present invention provides a method for constructing a compact space folding array model based on three-ply paper folding, which has the following technical scheme:
based on four groups of identical three-pump paper folding, constructing a zero-thickness paper folding model;
carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model;
and designing a four-bar linkage according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model from 5 to 1 by using the four-bar linkage to obtain the compact space folded array model.
The compact space folding array model construction method based on the three-pump folding paper has the following beneficial effects:
the folded array model constructed by the method is suitable for various spacecrafts needing large-area planar arrays, has high space utilization rate and high folding ratio, and can effectively reduce the cost of space tasks.
Based on the scheme, the method for constructing the compact space folding array model based on the three-ply folding paper can be improved as follows.
In an alternative way, the step of constructing a zero thickness paper folding model based on four identical sets of three-ply paper folding includes:
and splicing four groups of identical three-ply paper folding according to a rotation symmetry mode to obtain the zero-thickness paper folding model.
In an optional manner, the step of performing thick-plate processing on the zero-thickness paper folding model to obtain a thick-plate folded array model includes:
and carrying out three-pump paper folding thick plate processing and five-fold vertex thick plate processing on the zero-thickness paper folding model in sequence to obtain the thick plate folded array model.
In an alternative manner, the method further comprises:
and determining target design parameters of the compact space folding array model based on the type of the target spacecraft so as to generate a target compact space folding mechanism conforming to the target spacecraft according to the target design parameters.
In a second aspect, the invention provides a compact space folding array model building system based on three-pump paper folding, which has the following technical scheme:
comprising the following steps: the device comprises a first processing module, a second processing module and a third processing module;
the first processing module is used for: based on four groups of identical three-pump paper folding, constructing a zero-thickness paper folding model;
the second processing module is used for: carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model;
the third processing module is used for: and designing a four-bar linkage according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model from 5 to 1 by using the four-bar linkage to obtain the compact space folded array model.
The compact space folding array model building system based on three-pump paper folding has the following beneficial effects:
the folded array model constructed by the system is suitable for various spacecrafts needing large-area planar arrays, has high space utilization rate and high folding ratio, and can effectively reduce the cost of space tasks.
Based on the scheme, the compact space folding array model building system based on the three-pump folding paper can be improved as follows.
In an alternative manner, the first processing module is specifically configured to:
and splicing four groups of identical three-ply paper folding according to a rotation symmetry mode to obtain the zero-thickness paper folding model.
In an alternative manner, the second processing module is specifically configured to:
and carrying out three-pump paper folding thick plate processing and five-fold vertex thick plate processing on the zero-thickness paper folding model in sequence to obtain the thick plate folded array model.
In an alternative manner, the method further comprises: a generating module;
the generating module is used for: and determining target design parameters of the compact space folding array model based on the type of the target spacecraft so as to generate a target compact space folding mechanism conforming to the target spacecraft according to the target design parameters.
In a third aspect, the present invention provides a storage medium according to the following technical solution:
the storage medium stores instructions that, when read by a computer, cause the computer to perform the steps of a compact space folding array model building method based on three-ply folding.
In a fourth aspect, the present invention provides an electronic device, as follows:
the method comprises a memory, a processor and a program stored in the memory and running on the processor, wherein the processor realizes the steps of the method for constructing the compact space folding array model based on three-pump paper folding according to the invention when executing the program.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a schematic flow chart of an embodiment of a method for constructing a compact space folding array model based on three-ply folding;
FIG. 2 is a schematic illustration of a zero thickness paper folding model;
FIG. 3 is a schematic diagram of the definition of the rotation axis offset;
FIG. 4 is a schematic diagram of a thick-plate five-fold vertex parameter;
FIG. 5 is a cross-sectional view of a four-bar linkage;
FIG. 6 is a schematic diagram of the movement of the four bar linkage;
FIG. 7 is a schematic illustration of the overall folded state of the compact spatial folding array model;
FIG. 8 is a schematic diagram of the overall deployment state of the compact spatial deployment array model;
FIG. 9 is a schematic diagram of a compact space folding array model building system based on three-ply folding.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein.
Fig. 1 shows a schematic flow chart of an embodiment of a method for constructing a compact space folding array model based on three-ply folding. As shown in fig. 1, the method comprises the following steps:
s1, constructing a zero-thickness paper folding model based on four groups of same three-pump paper folding.
Specifically, four groups of identical three-ply paper folding are spliced in a rotationally symmetrical mode, so that a zero-thickness paper folding model is obtained.
Wherein fig. 2 shows a schematic view of a zero thickness fold pattern forming a plane of central symmetry, the frame can be easily attached to the central panel without interfering with the unfolding process. The four blades of the three-pump paper folding occupy one quadrant respectively and are not overlapped with each other. The frame refers to a part of the spacecraft except for a folding plane, and the part has the functions of supporting and fixing the folding plane. In addition, the frame has other functions, and the functions are determined according to the task targets of the spacecraft. For example, a communication satellite will install corresponding communication equipment in a rack, and an experimental satellite will install corresponding scientific instruments.
In S1, it should be noted that:
1) There are two different ways of connecting the three-ply paper folding blade and the center panel. The folds of the three-ply paper are arranged in a straight line (denoted by the m-direction in fig. 2) in one direction and in a zigzag shape (denoted by the n-direction in fig. 2) in the other direction. If the corner panel of the three-pump paper folding blade is connected with the central panel by the crease in the m direction, the configuration A of the zero-thickness paper folding model is obtained; if the corner panels are connected with the central panel with folds in the n-direction, a configuration B of the zero thickness paper folding model is obtained. The number of panels in both directions is variable, denoted M and N, respectively, and need not be equal.
2) The fold type distribution was consistent for both configurations (configuration a and configuration B). The corner panels are always connected to the center panel by a mountain fold (the fold protrudes out of the page), while the corner panels and other three-pump panels are connected by a valley fold (the fold is recessed into the page). Other crease types on the three-ply paper folding can be determined in sequence according to the following rules:
(1) the mountain folds and the valley folds are distributed in a staggered manner in the m direction;
(2) the crease types in the n direction are kept consistent;
(3) opposite side folds of the same panel are of opposite type. The fold type is specified because only in this folded form, it is ensured that the other panels are arranged outside the corner panels after folding, leaving a cuboid space below the center panel for mounting racks or for placing other instruments.
3) By adding two independent triangular panels, the corner panels and the center panel of two adjacent three-ply folded papers can be connected to form a five-fold vertex. From the center panel, the five-fold vertex panel was traversed clockwise, the fan angles (the angles of two adjacent folds around their intersecting vertices) were respectively: 90 °,45 °,45 °,90 °,90 °. The Kawasaki-just theorem states that the crease pattern is only flat-folded when the staggered sum of the fan angles is equal to 0. Therefore, the vertex of the five folds does not overlap the corner panels of the two three-ply folded paper. On the other hand, the apex is formed of four mountain folds and one valley fold forming a cross line, which meets the bird foot condition indicated by Abel et al, and thus it can be proved that the apex is rigid and foldable. In fact, the five-apex crease allows the dihedral angle between the corner panel and the central panel of the three-ply fold to vary between 90 ° -180 °, while always maintaining symmetrical movement of the two corner panels with respect to the diagonal of the central panel. Therefore, the four five crease peaks form a linkage device, so that the blades of the four three-pump paper folding can be synchronously unfolded at the same speed.
4) The five fold vertex requires that the fan angle between the two corner panels and the triangular panel is a right angle, whereas the three-ply paper folding unit (three-ply paper folding unit is composed of several parallelogram planes of the same size, each parallelogram can be regarded as one three-ply paper folding unit) is composed of parallelograms, so that the shape of the first three-ply panel close to the other blades needs to be modified. The edges of the leaves can be made perpendicular to the folds by expanding the panel. In fig. 2, the edge of the three-ply folded paper before expansion is indicated by a broken line, and the edge after expansion is indicated by a solid black line.
5) In fig. 2, the left side is a crease line in an unfolded state, a short dashed line indicates a mountain crease, a dotted line indicates Gu Shehen, a long dashed line indicates a boundary line of the original three-ply crease pattern, and a solid line indicates an actual edge line of the combination pattern (without motion constraint). The middle is in a half-folded state. The right side is in a fully folded state.
S2, carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model.
Specifically, the zero-thickness paper folding model is subjected to three-pump paper folding thick plate processing and five-fold vertex thick plate processing in sequence, and a thick plate folded array model is obtained.
1) In S2, the three-pump paper folding thick plate processing process comprises the following steps:
as shown in FIG. 3, a vertex grid V is established in the m and n directions of the three-ply folded paper m,n Vertex V m,n And V m′,n′ The crease lines between are marked asAssuming that each panel has the same thickness d, in the fully extended state, the upper and lower surfaces of all panels are coplanar, respectively. It is thus possible to define a plane parallel to the upper and lower surfaces and equidistant from both planes as a median plane. Rotation axis->The distance to the midplane is the rotation axis offset +.>
When (when)When the three-ply folded paper accords with the following arrangement rule, the motion characteristics of the three-ply folded paper in a zero thickness state can be maintained, namely, the three-ply folded paper moves in a single degree of freedom and does not interfere with each other:
2) In S2, the process of the thick plate treatment of the five-fold vertex is as follows:
the application of mechanism kinematics easily proves that the axisymmetric five-fold vertex can be equivalent to Myard link mechanism when the thick plate is formed. The Myard linkage is a closed-loop 5R over-constrained spatial mechanism, and the Myard linkage is also axisymmetric in configuration and motion and has a single degree of freedom.
In order to make the thick-plate paper folding mechanism conform to the characteristics of the Myard link mechanism, in the embodiment, first, a few modifications are made to the corner panel of the three-pump paper folding mechanism. As shown in fig. 4, it is assumed that the two corner panels and the two intermediate triangular panels have the same plate thickness. The triangle is connected with the upper edge of the corner panel and is marked as a revolute pair z 2 And z 5 . And a revolute pair between two triangular plates is arranged at the lower edge and is marked as z 1 . However, the corner panel is not directly connected to the center panel, but a boss is added on the upper surface of the original corner panel, the upper edge of the boss is connected with the center panel, and the axis at the joint is z 3 And z 4 . In FIG. 4, a 12 And a 51 Represents the thickness of the original corner panel and the triangle, a 23 And a 45 The thickness of the boss is described. These quantities follow the relationship:
a 12 ＝a 51 ，
the mounting angle between the connecting rods of the mechanism is easy to obtain according to the crease graph:
s3, designing a four-bar linkage device according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model by using the four-bar linkage device to obtain a compact space folded array model.
The specific implementation process of S3 is as follows:
1) Thick plate-shaped folding and unfolding array modelInnermost panel P of configuration B of (2) 1,1 Axis A with center panel, innermost panel P 1,1 And minor inner side panel P 2,1 The axes B between them are always parallel during the movement. The embodiment is at P 2,1 Adding an axis C on the plate, so that B is parallel to C; adding an axis D on the center panel to enable A to be parallel to D; and connecting the C with the D by using a connecting rod. Thus, the center panel (AD) and the innermost panel P 1,1 (AB), minor inner side Panel P 2,1 (BC) and the newly added link CD constitute a planar four-bar mechanism (four-bar linkage) as shown in fig. 5. The present embodiment synchronizes the blade rotation and blade deployment of a three-ply fold by using a four-bar linkage to obtain a compact spatial fold array model.
2) Angle p between AB and AD 1 Representing the rotation of the whole blade relative to the central panel, the included angle ρ between AB and BC 2 Characterizing the deployment of each panel in the blade. From the fully folded to the fully unfolded state, the blade is rotated by 90 ° with respect to the central panel as a whole, whereas the dihedral angle between the two panels in the blade changes from 0 ° to 180 °. Thus, the four-bar linkage must have the properties: when ρ is 1 With 90 ° delta ρ 2 Should have 180 ° increments.
3) In this embodiment, the specific shape of the panel is hidden, only the motion of the equivalent link is concerned, and the AB link is selected as a fixed reference, so as to obtain the motion schematic diagram of the four-link linkage in fig. 6. ABC (ABC) 1 D 1 Representing four-bar linkage, ABC in fully folded condition 2 D 2 Representing the four-bar linkage in the fully extended state. It can be seen from BC 1 To BC 2 Rotated 180 deg. from AD 1 To AD (AD) 2 Rotated by 90 deg.. From fig. 6, the geometrical relationships that the four-bar linkage parameters should satisfy can be listed:
the solution of the above equation is not unique. In fact, the length x of the connecting rod has a range of values,for any x in the range, the remaining r can be solved 1 ,r 2 S. Different r 1 ,r 2 The positions of the representative axes D and C are different, and the positions of the axes D and C can be determined according to engineering requirements in the actual design situation, so that a group of proper four-bar solutions can be selected.
In this embodiment, the following description is given of the present invention.
First, four independent single degree of freedom three-ply paper folding blades were constructed using an offset axis approach. Secondly, the rotation synchronization of the four blade angle panels is ensured by using a five-fold vertex mechanism. Finally, a four bar linkage is used to relate the unfolding process of the blade to the rotation of the corner panel. Eventually, the degree of freedom of the whole compact space folded array model is reduced to 1.
Preferably, the method further comprises:
s4, determining target design parameters of the compact space folding array model based on the type of the target spacecraft so as to generate a target compact space folding mechanism conforming to the target spacecraft according to the target design parameters.
The target spacecraft is various spacecraft which need a large-area planar array, and the types of the target spacecraft include but are not limited to: space exposure experiment platform, space solar power station, telescope shielding cover, planar synthetic aperture radar, etc.
In S4, the overall folded state of the compact space folding array model is shown in fig. 7, and the overall unfolded state of the compact space folding array model is shown in fig. 8. The total width of the model in the folded state is defined as L, the total height is defined as H, the side length of the central column is c, the plate thickness is d, the plate width is b, the plate height is H, and the acute angle internal angle of the parallelogram panel is phi. The minimum value of the side length of the central column can be determined as c in combination with the actual requirement min . Taking L, H, d, φ, M, N as arguments (target design parameters), for any set of argument sets that satisfy the inequality constraints:
the folding and unfolding mechanism meeting the requirements can be constructed, and the mechanism can be tightly embedded into a cuboid with the length, width and height of L multiplied by H after being folded. Other design parameters can be solved by the following formula:
it should be noted that, in order to evaluate the storage capacity of the model under different parameter values, the folding ratio ε and the space utilization η are defined as follows:
and (3) providing a calculation formula of the folding and unfolding ratio and the space utilization ratio of two configurations:
for configuration a:
for configuration B:
through calculation, the corresponding mechanism space utilization rate is found to be more than half for most of target design parameters (L, H, d, phi, M and N). Compared with the former folding and unfolding model, the design of the embodiment can more effectively utilize the transportation space.
The compact space folding and unfolding array model of the embodiment has regular appearance and high space utilization rate, can effectively reduce the cost of space tasks, and the highly flexible parameterized design enables a designer to rapidly develop customized space equipment according to different task requirements. Therefore, the technical scheme of the embodiment is expected to play an important role in the future national aerospace development, and has a wide development prospect in the space exploration and application fields.
Fig. 9 shows a schematic structural diagram of an embodiment of a compact space folding array model building system 200 based on three-ply folding. As shown in fig. 9, the system 200 includes: a first processing module 210, a second processing module 220, and a third processing module 230;
the first processing module 210 is configured to: based on four groups of identical three-pump paper folding, constructing a zero-thickness paper folding model;
the second processing module 220 is configured to: carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model;
the third processing module 230 is configured to: and designing a four-bar linkage according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model by using the four-bar linkage to obtain a compact space folded array model.
Preferably, the first processing module 210 is specifically configured to:
and splicing four groups of identical three-ply paper folding according to a rotation symmetry mode to obtain the zero-thickness paper folding model.
Preferably, the second processing module 220 is specifically configured to:
and carrying out three-pump paper folding thick plate processing and five-fold vertex thick plate processing on the zero-thickness paper folding model in sequence to obtain the thick plate folded array model.
Preferably, the method further comprises: a generating module;
the generating module is used for: and determining target design parameters of the compact space folding array model based on the type of the target spacecraft so as to generate a target compact space folding mechanism conforming to the target spacecraft according to the target design parameters.
The folded array model constructed by the technical scheme of the embodiment is suitable for various spacecrafts needing large-area planar arrays, has high space utilization rate and high folding ratio, and can effectively reduce the cost of space tasks.
The steps for implementing the corresponding functions by the parameters and the modules in the compact space folding array model building system 200 based on three-ply folding according to the present embodiment can refer to the parameters and the steps in the embodiment of the compact space folding array model building method based on three-ply folding according to the present embodiment, and are not described herein.
The storage medium provided by the embodiment of the invention comprises: the storage medium stores instructions that, when read by a computer, cause the computer to perform the steps of the method for constructing a compact space folding array model based on three-ply folding, and the specific reference may be made to the parameters and steps in the embodiment of the method for constructing a compact space folding array model based on three-ply folding hereinabove, which are not described herein.
Computer storage media such as: flash disk, mobile hard disk, etc.
The electronic device provided in the embodiment of the invention includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where when the processor executes the computer program, the computer is caused to execute the steps of the method for constructing a compact space folding array model based on three-ply folding paper, and specifically, reference may be made to each parameter and step in the embodiment of the method for constructing a compact space folding array model based on three-ply folding paper, which are not described herein.
Those skilled in the art will appreciate that the present invention may be implemented as a method, system, storage medium, and electronic device.
Thus, the invention may be embodied in the form of: either entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or entirely software, or a combination of hardware and software, referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media, which contain computer-readable program code. Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. The method for constructing the compact space folding array model based on the three-pump folding paper is characterized by comprising the following steps of:
based on four groups of identical three-pump paper folding, constructing a zero-thickness paper folding model;
carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model;
and designing a four-bar linkage according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model from 5 to 1 by using the four-bar linkage to obtain the compact space folded array model.
2. The method for constructing a compact space folding array model based on three-ply folding as claimed in claim 1, wherein the step of constructing a zero-thickness folding model based on four identical sets of three-ply folding comprises:
and splicing four groups of identical three-ply paper folding according to a rotation symmetry mode to obtain the zero-thickness paper folding model.
3. The method for constructing a compact space folding array model based on three-ply folding paper according to claim 1, wherein the step of performing thick-plate processing on the zero-thickness folding paper model to obtain a thick-plate folding array model comprises the following steps:
and carrying out three-pump paper folding thick plate processing and five-fold vertex thick plate processing on the zero-thickness paper folding model in sequence to obtain the thick plate folded array model.
4. A method of constructing a compact space folding array model based on three-ply folding paper according to any one of claims 1 to 3, further comprising:
and determining target design parameters of the compact space folding array model based on the type of the target spacecraft so as to generate a target compact space folding mechanism conforming to the target spacecraft according to the target design parameters.
5. A compact space folding array model building system based on three-ply folding paper, comprising: the device comprises a first processing module, a second processing module and a third processing module;
the first processing module is used for: based on four groups of identical three-pump paper folding, constructing a zero-thickness paper folding model;
the second processing module is used for: carrying out thick plate processing on the zero-thickness paper folding model to obtain a thick plate folded array model;
the third processing module is used for: and designing a four-bar linkage according to the configuration of the thick-plate folded array model, and adjusting the degree of freedom of the thick-plate folded array model from 5 to 1 by using the four-bar linkage to obtain the compact space folded array model.
6. The three-ply paper-folding based compact space folding array model building system of claim 5, wherein the first processing module is specifically configured to:
and splicing four groups of identical three-ply paper folding according to a rotation symmetry mode to obtain the zero-thickness paper folding model.
7. The three-ply paper-folding based compact space folding array model building system of claim 5, wherein the second processing module is specifically configured to:
and carrying out three-pump paper folding thick plate processing and five-fold vertex thick plate processing on the zero-thickness paper folding model in sequence to obtain the thick plate folded array model.
8. The compact space folding array model building system based on three-ply folding paper according to any one of claims 5 to 7, further comprising: a generating module;
the generating module is used for: and determining target design parameters of the compact space folding array model based on the type of the target spacecraft so as to generate a target compact space folding mechanism conforming to the target spacecraft according to the target design parameters.
9. A storage medium having instructions stored therein, which when read by a computer, cause the computer to perform the three-ply folded paper based compact space folded array model building method of any one of claims 1 to 4.
10. An electronic device comprising a memory, a processor and a program stored on the memory and running on the processor, characterized in that the processor implements the steps of the three-ply paper-break based compact space folding array model building method according to any one of claims 1 to 4 when executing the program.
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