WO2019019552A1 - 一种空间平面薄膜天线可展开机构 - Google Patents

一种空间平面薄膜天线可展开机构 Download PDF

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Publication number
WO2019019552A1
WO2019019552A1 PCT/CN2017/119557 CN2017119557W WO2019019552A1 WO 2019019552 A1 WO2019019552 A1 WO 2019019552A1 CN 2017119557 W CN2017119557 W CN 2017119557W WO 2019019552 A1 WO2019019552 A1 WO 2019019552A1
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WIPO (PCT)
Prior art keywords
rod
joint
rigid frame
pair
short
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PCT/CN2017/119557
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English (en)
French (fr)
Inventor
曹鹏
保宏
段宝岩
张逸群
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西安电子科技大学
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Application filed by 西安电子科技大学 filed Critical 西安电子科技大学
Publication of WO2019019552A1 publication Critical patent/WO2019019552A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/08—Means for collapsing antennas or parts thereof
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/08—Means for collapsing antennas or parts thereof
    • H01Q1/084—Pivotable antennas

Definitions

  • the invention belongs to the field of space flexible antenna expandable mechanism, in particular to a space plane film antenna expandable mechanism design scheme.
  • Space-based radar is a very important defense equipment capable of detecting targets with long distance, high precision and all weather.
  • large caliber is an important direction for its development.
  • the structure of the film is light in weight and small in size, and has become the preferred structure of space-based radar. It has been widely studied in developed countries around the world. Among them, the large storage ratio and high reliability deployment mechanism are an important basis for ensuring the normal operation of the film antenna. Therefore, it is of far-reaching significance to carry out the design work of the expandable mechanism with a large storage ratio.
  • the current film expandable mechanisms are mainly inflatable rigid type, bean pod curling type and truss folding type.
  • film folding and unfolding require direct assistance from the framework.
  • the film is curled with the frame as the axis or folded with the frame as a guide.
  • the width of the frame determines the spread width of the film, and there is a significant constraint relationship between the film and the frame, which makes it difficult to expand the opening diameter of the antenna.
  • the film and the frame are two-dimensionally gathered to increase the overall storage ratio of the antenna; secondly, the film and the frame are separately gathered and unfolded, and the constraint relationship between them is released to expand the antenna aperture.
  • the object of the present invention is to solve the problem that the current space planar film antenna has a limited opening diameter and a relatively low deployment of the expandable mechanism, and a space flat film antenna expandable mechanism design method with a large storage ratio is proposed.
  • the present invention has been achieved by the following technical solutions.
  • a space planar film antenna expandable mechanism comprising an expandable mechanism, and a flat film connected to the expandable mechanism by a pull cable, wherein the expandable mechanism is provided with a rigid frame hinged to each other, and a rigid frame connected to the rigid frame
  • the expandable mechanism is provided with a rigid frame hinged to each other, and a rigid frame connected to the rigid frame
  • a pair of short synchronizing rods are respectively connected with a pair of connecting rods
  • a pair of connecting rods are respectively connected with a pair of long synchronizing rods hinged to each other, and a pair of long synchronizing rods are respectively hinged on a pair of rigid frames
  • a pair of long synchronizing The rods are respectively connected to the adjacent pair of connecting rods, and the pair of connecting rods of the lower stage are connected to the next stage short synchronizing rods, and so on, to form the expandable mechanism truss;
  • a pair of rigid frames, a pair of short synchronous rods and a pair of long synchronous rods are respectively hinged through a pair of circumferential joints, and the long synchronous rod and the rigid frame, the short synchronous rod and the rigid frame are hinged by a radial joint;
  • a pulley is arranged on the joint and the radial joint, and the cable sequentially forms a closed loop around the pair of circumferential joints and the pulley on the radial joint; the first end of the cable is connected to the motor shaft of the satellite, and is received by the motor on the satellite.
  • the take-up cable drives the deployable mechanism to deploy.
  • the expandable mechanism is hinged by the rigid frame a and the rigid frame b to form an annular structure, and short hinges a and short synchronous rods which are hinged to each other are respectively connected on both sides of the hinged end of the rigid frame a and the rigid frame b. b.
  • the short synchronizing rod a and the short synchronizing rod b are respectively hinged with a connecting rod a and a connecting rod b, and the connecting rod a and the connecting rod b respectively connect a pair of long synchronizing rods a and a long synchronizing rod b hinged to each other, and a long synchronizing rod a and the long synchronizing rod b are respectively hinged on the rigid frame a and the rigid frame b; the long synchronizing rod a and the long synchronizing rod b are respectively connected to the adjacent connecting rod b and the connecting rod a, the lower first connecting rod b and the connecting The rod a is then connected to the next stage short synchronizing rod b and the short synchronizing rod a, and so on, to form an articulated rigid regular polygonal expandable mechanism truss.
  • the rigid frame a and the rigid frame b are hinged through the hoop joint a, and the long synchronizing rod a and the long synchronizing rod b, the short synchronizing rod a and the short synchronizing rod b are hinged through the hoop joint b;
  • the long synchronizing rod a and the rigid frame a, the long synchronizing rod b and the rigid frame b, the short synchronizing rod a and the rigid frame b, the short synchronizing rod b and the rigid frame a are hinged by a radial joint;
  • the connecting rod a and the long synchronizing rod b, the connecting rod a and the short synchronizing rod a, the connecting rod b and the short synchronizing rod b, the connecting rod b and the long synchronizing rod a are hinged by an articulated joint.
  • the adjacent two rigid frames and the adjacent two synchronous rods form an articulated synchronous quadrilateral mechanism.
  • the length of the hinge portion of the rigid frame a and the rigid frame b in the synchronous quadrilateral mechanism is not greater than the length of the hinge portion of the synchronous rod.
  • the length of the short synchronizing rod is equal to the length of the long synchronizing rod in the synchronous quadrilateral mechanism;
  • the angle between the rigid frames is continuously increased by 0°.
  • the quadrilateral mechanism will constitute a spatial triangular mechanism.
  • the pair of circumferential joints are all a "V"-shaped groove-like structure, and the through holes at the two ends of the annular joint are respectively hinged with the through holes of one pair of rigid frames by bolts and nuts; the circumferential joint "V” a through hole at the root end of the groove is connected to the pulley shaft;
  • the pulley mounted on the hoop joint a is inside the "V" shaped groove, the pulley mounted on the hoop joint b is on its side, and the pulleys on the hoop joint a and the hoop joint b are mounted in the same quadrilateral mechanism.
  • the center line is parallel to the vertical line of the expandable ring of the expandable mechanism;
  • the radial joint is a solid round rod, and both ends of the round rod project a short and short rod in the axial direction, and the ends of the short and short rods are respectively connected with the rigid frame, the short synchronous rod or the long synchronous rod.
  • the hollow cylinder after the unfoldable mechanism is nested by three layers of rods, wherein the inner layer is a rigid frame structure, the middle layer is a synchronous rod structure, and the outermost layer is a connecting rod structure.
  • the rigid frame, the connecting rod, the long synchronous rod and the short synchronous rod are all hollow circular tube structures, and the hollow circular tubes are respectively provided with a connection with the joints in the radial direction at both ends thereof. hole.
  • a cable is connected to the skeleton of the expandable mechanism, and the cable sequentially bypasses the pulley of the radial joint where the rigid frame a and the long synchronization rod a are connected, the pulley on the circumferential joint b, the pulley on the circumferential joint a, The pulley of the radial joint where the rigid frame b and the long synchronization rod b are connected, the pulley of the radial joint where the rigid frame b and the short synchronization rod a are connected, the pulley on the circumferential joint b, the pulley on the circumferential joint a, the rigid frame a pulley connecting the radial joint of the short synchronizing rod b, the cable is connected to the pulley of the radial joint of the joint of the lower first frame a and the long synchronizing rod a, and so on, forming a closed loop; The end is connected to the motor shaft of the satellite.
  • planar film is a circular structure with a lace shape, and a plurality of folding lines are distributed on the flat film, and the folding line is an arc-shaped radial structure along the center of the circle; at the apex of the flat film lace
  • the cable is connected to the middle of the rigid frame on the expandable mechanism.
  • the present invention accordingly provides a method of deploying a planar planar film antenna expandable mechanism, including the following process:
  • the angle between a pair of rigid frames, a pair of connecting rods, a pair of long synchronous rods and a pair of short synchronous rods is 0°
  • the shape of the expandable mechanism is a three-layer rod nesting a cylindrical body; the expandable mechanism is rotated by the torsion spring to drive the rigid frame around the ring to the hinge bolt on the joint a, and the long synchronous rod and the short synchronous rod are rotated around the bolt axis of the rigid frame and its own hinge position.
  • a pair of connecting rods are connected to a pair of long synchronizing rods to synchronously move with a pair of short synchronizing rods, so that the distance between the hoop joint a and the hoop joint b is reduced, the height of the cylinder is continuously reduced, and the caliber area is continuously expanded. ;
  • the expandable mechanism is driven by the motor winding cable of the satellite in the later stage, and the cable is continuously reduced by the tension ring to the joint a and the ring joint b until the rigid frame a, the circumferential joint a and the rigid
  • the distance between the circumferential joint a and the circumferential joint b reaches a minimum, the mechanism is fully deployed, and the unfolded state is a truss articulated rigid regular polygon.
  • a synchronization mechanism is proposed for the two-dimensional expandable mechanism, and the articulated link is used to ensure the synchronism of the unfolding process of the mechanism.
  • the synchronization effect is better; compared with the sliding synchronous mechanism such as the crank slider, the frictional force of the mechanism unfolding process is reduced and the risk of cold welding in space is eliminated.
  • a torsion spring-cable drive scheme is proposed.
  • the torsion spring at the joint of the mechanism is used to expand a certain angle. After that, the motor winding cable drive mechanism is fully deployed and locked.
  • the driving scheme is stable and reliable, and the length of the connecting rod can be reasonably designed to control the variation of the cable length.
  • Figure 1 (a), Figure 1 (b) and Figure 1 (c) is a schematic diagram of a two-dimensional folding scheme of the film
  • 2(a), 2(b) and 2(c) are schematic views of a two-dimensional expansion scheme of the rigid frame
  • Figure 3 (a) is a schematic view showing the fully collapsed state of the expandable mechanism
  • Figure 3 (b) is a schematic view showing the connection relationship of the rod members of the expandable mechanism
  • Figure 4 (a) is a schematic diagram of the driving scheme (institutional expansion intermediate state);
  • Figure 4 (b) is a schematic diagram of the driving scheme (the fully expanded state of the mechanism).
  • Figure 5 (a) ⁇ (f) is a schematic diagram of the mechanism development process
  • Figure 6 is a schematic diagram showing the geometric relationship between the height of the mechanism and the diameter of the expansion and the number of segments of the rigid frame;
  • Figure 7 is a schematic diagram showing the geometric relationship between the diameter of the mechanism and the number of rigid frame segments and the diameter of the rigid frame;
  • Figure 8 is a schematic view showing the geometric relationship between the length of the cable and the length of the connecting rod
  • the space planar film antenna expandable mechanism of the present invention includes an expandable mechanism 2, and is connected to the expandable mechanism 2 by a pull cable 3.
  • the flat film 1 is placed in a collapsing mechanism inside the collapsing mechanism, and the film boundary is pulled by the pulling cable in the middle position of the rigid frame.
  • the cylindrical film is pulled and unfolded by the pulling cable.
  • the expanded state shape is a rigid regular polygon.
  • the unfolded object is a plane of a flat film, and a plurality of folding lines are distributed on the film surface, and the flat film 1 is first folded along the path shown. It then rotates around its geometric center to form a cylindrical structure.
  • the expandable mechanism 2 is hinged from the end frame of the rigid frame a5 and the rigid frame b6 to form a ring structure, and short hinges are respectively connected to each other on both sides of the hinged end of the rigid frame a5 and the rigid frame b6.
  • the rod a11 and the short synchronizing rod b12, the short synchronizing rod a11 and the short synchronizing rod b12 are respectively hinged with a connecting rod a9 and a connecting rod b10, and the connecting rod a9 and the connecting rod b10 are respectively connected with a pair of long synchronizing rods a7 and long synchronization
  • the rod b8, the long synchronizing rod a7 and the long synchronizing rod b8 are respectively hinged on the rigid frame a5 and the rigid frame b6; the long synchronizing rod a7 and the long synchronizing rod b8 are respectively connected to the adjacent connecting rod b10 and the connecting rod a9, next
  • the stage link b10 and the link a9 are connected to the next stage short synchronizing rod b12 and the short synchronizing rod a11, and so on, to form an articulated rigid regular polygon expandable mechanism 2 truss.
  • the rigid frame a5 and the rigid frame b6 are hinged by the hoop joint a17, the long synchronizing rod a7 and the long synchronizing rod b8, the short synchronizing rod a11 and the short synchronizing rod b12 are hinged through the hoop joint b18; the long synchronizing rod a7 and the rigid frame a5, long The synchronous rod b8 and the rigid frame b6, the short synchronous rod a11 and the rigid frame b6, the short synchronous rod b12 and the rigid frame a5 are hinged by the radial joint 19; the connecting rod a9 and the long synchronous rod b8, the connecting rod a9 and the short synchronous rod A11.
  • the connecting rod b10 and the short synchronizing rod b12, the connecting rod b10 and the long synchronizing rod a7 are hinged by the joint joint 20.
  • the adjacent two rigid frames (rigid frame a5, rigid frame b6) and the adjacent two synchronous rods (short synchronous rod a11, short synchronous rod b12 or long synchronous rod a7, long synchronous rod b8) constitute an articulated synchronization
  • the length of the hinge portion of the rigid frame a5 and the rigid frame b6 in the synchronous quadrilateral mechanism is not greater than the synchronization rod (short synchronous rod a11, short synchronous rod b12 or long synchronous rod a7, long synchronous rod b8)
  • the length of the hinge portion, and the length of the short synchronizing rod (short synchronizing rod a11, short synchronizing rod b12) is equal to the length of the long synchronizing rod (long synchronizing rod a7, long synchronizing rod b8) in the synchronous quadrilateral mechanism;
  • the angle between the rigid frames is continuously increased by 0°.
  • the quadrilateral mechanism When the two adjacent rigid frames are in the same plane as the circumferential joint a17, the quadrilateral mechanism will constitute a space triangular mechanism.
  • a connecting rod (link a9 or connecting rod b10) and a rigid frame (rigid b6 or rigid frame a5), a long synchronizing rod (long synchronizing rod b8 or long synchronizing rod a7), a short synchronizing rod (short synchronizing rod a11 or A section of the short synchronizing rod b12) is hinged into a parallelogram mechanism, and the connecting rod (the connecting rod a9 or the connecting rod b10) serves as a joint action for the two adjacent synchronous quadrilateral mechanisms.
  • the rod b12 and the long synchronizing rod a7 and the long synchronizing rod b8) are configured, and the outermost layer is a link structure (link a9 or connecting rod b10).
  • the innermost rigid frame (rigid frame a5, rigid frame b6) and the intermediate layer synchronous rod (short synchronous rod a11, short synchronous rod b12 and long synchronous rod a7, long synchronous rod b8) are connected by a radial joint 19
  • the intermediate layer synchronizing rods (the short synchronizing rod a11, the short synchronizing rod b12 and the long synchronizing rod a7, the long synchronizing rod b8) are connected to the outermost connecting rod (the connecting rod a9 or the connecting rod b10) via the joint joint 20.
  • Fig. 3(b) is a schematic view showing the collapsed state of the expandable mechanism 2, and the collapsed state has a cylindrical shape.
  • a pulley 16 is mounted on the hoop joint a17, the hoop joint b18, and the radial joint 19.
  • a pair of rigid frame a5 and rigid frame b6, a pair of connecting rods, a pair of long synchronous rods and a pair of short synchronous rods are all hollow circular tube structures, and the hollow circular tubes are respectively opened at each of their two ends in the radial direction.
  • the rigid frame a5 or the rigid frame b6 is connected to the satellite 4.
  • the circumferential joint a17 is a "V"-shaped groove-like structure, and a pair of through holes are formed on both ends of the joint and the symmetric center groove wall thereof, and the through hole and the rigid frame are provided at one end of the ring joint a17.
  • the through hole at one end of the a5 is hinged by the bolt nut 13 , and the through hole at the other end is hinged with the through hole at the end of the rigid frame b6 through the bolt nut 13 , and the through hole of the ring joint a5 is connected with the axial through hole of the pulley through the bolt nut 13 , the rigid frame a5
  • the rigid frame b6 and the pulley 16 are both mounted inside the "V" shaped groove of the hoop joint a17.
  • the hoop joint b18 is a "V"-shaped groove-like structure, and a pair of through holes are formed on both ends of the joint and the symmetric center groove wall thereof, and the through hole at one end of the hoop joint b18 is connected to the end of the long synchronizing rod a7.
  • the hole is hinged by the bolt nut 13 , and the through hole of the other end of the hoop joint b18 and the through hole of the long synchronous rod b8 are hinged by the bolt nut 13 , and the through hole of the hoop joint b18 is connected with the axial through hole of the pulley through the bolt nut 13 .
  • a pulley on the joint b18 is attached to the side of the hoop joint b18; the long synchronizing rod a7 and the long synchronizing rod b8 are mounted inside the "V" shaped groove of the hoop joint b18.
  • the center line of the mounting position of the hoop joint a17 and the hoop joint b18 in the same quadrilateral mechanism is parallel to the perpendicular line of the unfolded ring of the expandable mechanism 2.
  • the radial joint 19 is a solid round rod, and both ends of the round rod protrude from the axial direction with a short short rod of the same size as the bolt, and the end of the short and short rod is provided with a thread matched with the nut, and the radial joint 19 is inserted one end at a time.
  • the axial through hole of the pulley and the through hole at a distance from the end of the rigid frame a5 are hinged by a nut; in addition, one end of the other radial joint a19 is sequentially inserted into the axial through hole of the pulley and the end of the rigid frame b6 from the end thereof A through hole at a certain distance and hinged by a nut.
  • the joint joint 20 has the same structure as the radial joint 19, and is also a solid round rod. Both ends of the round rod project axially with a short short rod of the same size as the bolt, and the end of the short rod is provided with a thread matched with the nut. .
  • FIG. 3(b) shows a schematic structural view of the collapsible mechanism 2 in a collapsed state.
  • a cable 15 is connected to the bobbin of the expandable mechanism 2, and the cable 15 is sequentially passed around the pulley of the radial joint a19 at the joint of the rigid frame a5 and the long synchronizing rod a7, and the hoop joint b18.
  • Pulley, pulley on the hoop joint a17, pulley of the radial joint a19 at the joint of the rigid frame a5 and the short synchronizing rod b12, and the cable 15 is connected to the radial joint of the joint of the lower first frame a5 and the long synchronizing rod a7
  • a closed loop is formed; the end of the cable 15 is connected to the motor shaft of the satellite 4.
  • the mechanism is driven by the torsion spring 14 in combination with the cable 15, wherein a pair of torsion springs 14 are respectively mounted on the bolts of the hoop joint a17 and the hinge position of the rigid frame a5 and the rigid frame b6, and the torsion spring 14 is inserted into the rigid frame a5. Or the hollow tube of the frame b6, the other arm is limited by the connecting bolt of the ring joint a17 and the pulley.
  • the torsion spring 14 stores a certain elastic potential energy by its own deformation, and the expandable mechanism 2 is deployed by the elastic energy stored in the torsion spring in the early stage of deployment, and then is driven by the motor winding cable 15 on the satellite 4 to be expandable.
  • the mechanism 2 is deployed, and the unfoldable mechanism 2 is deployed as shown in Fig. 4(b).
  • Fig. 5(a) to Fig. 5(f) are schematic diagrams showing the development process of the mechanism, and the rigid frame around the antenna is divided into 12 sections.
  • the flat film 1 of the apparatus has a circular structure with a lace shape, and a plurality of folds are distributed on the flat film 1.
  • the line and the folding line are an arc-shaped radial structure along the center to the circumference of the circle.
  • the middle portion of the rigid frame a5 or the rigid frame b6 on the expandable mechanism 2 is connected by the pulling cable 3.
  • the height t and diameter d of the collapsing cylinder of the mechanism can be rationally designed according to the antenna diameter D and the number of rigid frame segments k, which are obtained by the following methods:
  • the rigid frame height is the length t of each rigid frame.
  • the radius of the mechanism member is r l
  • the number of rigid frame segments is k
  • the radius of the rigid frame collapsed cylinder is r.
  • the center angle ⁇ of the radius r l of each member of the rigid frame is:
  • the diameter d of the rigid frame of the rigid frame is:
  • the height of the rigid frame can be determined according to the number of rigid frame segments. t and gather the diameter d.
  • the length of the cable length can be reasonably controlled by designing the length of the hinged rod, which is obtained by the following method:
  • the deployment angle of the mechanism is ⁇
  • the length of the synchronous link is l 1
  • the length of the hinge portion of the rigid frame is l 2 .
  • the cable length h ⁇ in a four-bar unit in which the frame expansion angle is ⁇ is:
  • the expandable mechanism 2 is a cylindrical body in which a three-layered rod is nested.
  • the inner layer is a rigid frame structure
  • the middle layer is a synchronous structure, including a long synchronous rod and a short synchronous rod
  • the outermost layer is a connecting rod structure, wherein the innermost rigid frame structure and the synchronous rod of the intermediate layer pass through the radial joint.
  • the expandable mechanism 2 is rotated by the torsion spring 14 to drive the hinge bolt about the axis of the hinge bolt on the joint a17, and drives the long synchronizing rod and the short synchronizing rod to rotate in opposite directions around the bolt axis of the rigid frame and its own hinge position.
  • the rod is connected with the longer synchronizing rod and the shorter synchronizing rod for synchronous movement, so that the distance between the hoop joint a17 and the hoop joint b18 is reduced, the height of the cylinder is continuously reduced, the caliber area is continuously expanded, and the angle of rotation of the rigid frame is expanded before the expansion. It is [0°, 10°].
  • the expandable mechanism 2 is driven by the motor winding cable 15 of the satellite 4 in the later stage, and the cable is continuously reduced by the tension ring to the joint a17 and the hoop joint b18 until the rigid frame a5 and the circumferential joint
  • the distance between the circumferential joint a17 and the circumferential joint b18 reaches a minimum, the mechanism is fully deployed, and the unfolded state is a truss articulated rigid regular polygon, and the angle of rotation of the rigid frame is [ 10°, 90°].

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Abstract

本发明公开了一种空间平面薄膜天线可展开机构，包括可展开机构，以及通过牵连索连接在可展开机构上的平面薄膜，在可展开机构上设有首尾相互铰接的刚架、连接刚架的一对短同步杆、一对连杆、一对相互铰接的长同步杆，构成可展开机构骨架；一对刚架、一对短同步杆和一对长同步杆分别通过环向接头铰接，长同步杆与刚架、短同步杆与刚架之间通过径向接头铰接；环向接头和径向接头上装有滑轮，拉索依次绕过环向接头和径向接头上的滑轮形成一闭合回路；拉索首尾端连接到卫星的电机轴上，通过卫星上的电机收卷拉索驱动可展开机构展开。该机构采用面外折叠的二维折叠方式收拢，收纳比与展开口径面积大幅提高，更适用于大型甚至超大型平面薄膜天线应用。

Description

一种空间平面薄膜天线可展开机构 技术领域
本发明属于空间柔性天线可展开机构领域，具体是一种空间平面薄膜天线可展开机构设计方案。
背景技术
天基雷达能够远距离、高精度、全天候探测目标，是十分重要的国防装备。随着雷达技术的不断进步，大口径是其发展的重要方向。薄膜结构重量轻、收拢体积小，已成为天基雷达的首选结构，目前已得到了世界发达国家的广泛研究。其中，大收纳比、高可靠性的展开机构是保证薄膜天线正常工作的重要基础，因此，开展具有大收纳比的可展开机构设计工作具有十分深远的意义。
当前的薄膜可展开机构主要有充气刚化式、豆荚杆卷曲式及桁架折叠式等。通过对国内外研究现状的了解和分析，发现当前的可展开机构存在以下两点不足：
1、绝大部分机构仅做一维收拢。即薄膜仅在某一方向卷曲或折叠，一维收拢使得天线体积难以大幅降低，机构收纳比受到限制；少数机构结合了折叠与卷曲两种收拢方式，虽实现了二维收拢，但随着面内横向折叠次数的增加，薄膜在纵向将无法卷曲，因此该收拢方式难以应用于大型薄膜天线。
2、薄膜收拢和展开均需要框架直接辅助。薄膜以框架为轴心进行卷曲，或以框架为导轨进行折叠。上述机构中，框架的宽度决定了薄膜的展开宽度，薄膜与框架之间存在明显制约关系，导致天线展开口径难以扩大。
为解决上述问题，预先考虑对薄膜与框架采用二维收拢，以提高天线整体收纳比；其次将薄膜与框架独立收拢与展开，解除彼此之间的制约关系，以扩大天线口径。
发明内容
本发明的目的是针对当前空间平面薄膜天线展开口径有限、可展开机构收纳比较低的问题，提出一种具有大收纳比的空间平面薄膜天线可展开机构设计方法。
本发明是通过下述技术方案来实现的。
一种空间平面薄膜天线可展开机构，包括可展开机构，以及通过牵连索连接在可展开机构上的平面薄膜，在可展开机构上设有首尾相互铰接的刚架、连接在刚架上的一对短同步杆，一对短同步杆分别连接一对连杆，一对连杆分别连接一对相互铰接的长同步杆，一对长同步杆分别铰接在一对刚架上；一对长同步杆分别连接到相邻的一对连杆上，下一级一对连杆再连接到下一级短同步杆上，依次类推，构成可展开机构桁架；
一对刚架、一对短同步杆和一对长同步杆分别通过一对环向接头铰接，长同步杆与刚架、短同步杆与刚架之间通过径向接头铰接；在一对环向接头和径向接头上装有滑轮，拉索依次绕过一对环向接头和径向接头上的滑轮形成一闭合回路；拉索首尾端连接到卫星的电机轴上，通过卫星上的电机收卷拉索驱动可展开机构展开。
进一步，所述可展开机构由刚架a和刚架b首尾相铰接构成环形结构，在靠近刚架a和刚架b的铰接端两侧分别连接有相互铰接的短同步杆a和短同步杆b，短同步杆a和短同步杆b上分别铰接有连杆a和连杆b，连杆a和连杆b分别连接一对相互铰接的长同步杆a和长同步杆b，长同步杆a和长同步杆b 分别铰接在刚架a和刚架b上；长同步杆a和长同步杆b分别连接到相邻的连杆b和连杆a上，下一级连杆b和连杆a再连接到下一级短同步杆b和短同步杆a上，依次类推，构成铰接式刚性正多边形可展开机构桁架。
进一步，所述刚架a与刚架b通过环向接头a铰接，长同步杆a与长同步杆b、短同步杆a与短同步杆b通过环向接头b铰接；
长同步杆a与刚架a、长同步杆b与刚架b、短同步杆a与刚架b、短同步杆b与刚架a之间通过径向接头铰接；
连杆a与长同步杆b、连杆a与短同步杆a、连杆b与短同步杆b、连杆b与长同步杆a之间通过铰接接头铰接。
进一步，所述相邻两刚架与相邻两同步杆之间构成一铰接式同步四边形机构，该同步四边形机构中刚架a、刚架b的铰接部分长度不大于同步杆铰接部分的长度，且短同步杆的长度与长同步杆在同步四边形机构中的长度相等；
可展开机构展开过程中，刚架之间的夹角由0°不断增大，当两相邻刚架与环向接头a位于同一平面内时，四边形机构将构成空间三角形机构。
进一步，所述一对环向接头均为一“V”形槽状结构，所述环向接头两端通孔分别与一对刚架一端通孔通过螺栓及螺母铰接；环向接头“V”形槽根端通孔与滑轮轴连接；
安装于环向接头a的滑轮在其“V”形槽内部，安装于环向接头b的滑轮在其侧面，环向接头a和环向接头b上的滑轮在同一个四边形机构中的安装位置的中心连线与可展开机构展开态圆环的垂线平行；
所述径向接头为一实心圆杆，圆杆两端沿轴向各伸出一个细短杆，细短杆末端分别与刚架、短同步杆或长同步杆相连。
进一步，可展开机构收拢后的空心圆柱体为三层杆件嵌套而成，其中内层为刚架结构，中间层为同步杆结构，最外层为连杆结构。
进一步，所述刚架、连杆、长同步杆和短同步杆均为空心圆管结构，其空心圆管上在其两端分别沿径向各开有一个与所述接头连接相配合的通孔。
进一步，在可展开机构骨架上连接有拉索，拉索依次绕过刚架a与长同步杆a连接处径向接头的滑轮、环向接头b上的滑轮、环向接头a上的滑轮、刚架b与长同步杆b连接处径向接头的滑轮、刚架b与短同步杆a连接处径向接头的滑轮、环向接头b上的滑轮、环向接头a上的滑轮、刚架a与短同步杆b连接处径向接头的滑轮，拉索再连接到下一级刚架a与长同步杆a连接处径向接头的滑轮上，依次类推，形成一闭合回路；拉索首尾端连接到卫星的电机轴上。
进一步，所述平面薄膜为带有花边状的圆形结构，在平面薄膜上分布有多条折叠线，折叠线为一个沿中心向圆周边呈弧形放射状结构；在平面薄膜花边的顶点处通过牵连索连接在可展开机构上的刚架的中部。
本发明相应地给出了空间平面薄膜天线可展开机构的展开方法，包括下述过程：
1)完全收拢状态下，一对刚架、一对连杆、一对长同步杆及一对短同步杆之间的夹角均为0°，可展开机构外形为一三层杆件嵌套而成的圆柱体；可展开机构展开前依靠扭簧驱动刚架绕环向接头a上的铰接螺栓轴线转动，并带动长同步杆及短同步杆绕刚架与其自身铰接位置的螺栓轴线作反向转动，一对连杆连接一对长同步杆与一对短同步杆作同步运动，从而使环向接头a与环向接头b之间距离减小，圆柱体高度不断降低，口径面积不断扩大；
2)可展开机构展开后期依靠卫星的电机收卷拉索进行驱动，拉索通过张拉环向接头a与环向接头b使其间距不断减小，直至刚架a、环向接头a及刚架b均位于同一平面内时，环向接头a与环向接头b间距达到最小值，机构完全展开，展开态为一桁架铰接式刚性正多边形。
本发明的有益效果是：
1)针对平面薄膜天线收纳比低、展开口径小的问题提出一种具有大收纳比的可展开机构，该机构采用面外折叠方法进行二维收拢，与同类平面薄膜可展开机构相比，可提高机构的收纳比与天线展开口径都将大幅提高。
2)针对二维可展开机构机构提出一种同步机构，采用铰接式连杆保证机构展开过程的同步性。与同步齿轮相比，同步效果更佳；与曲柄滑块等滑动式同步机构相比，机构展开过程摩擦力减小且消除了在太空中可能出现冷焊的风险。
3)基于该机构的运动特点，提出一种扭簧—拉索驱动方案，机构展开前期，依靠机构关节处的扭簧展开一定角度，此后电机收卷拉索驱动机构完全展开并锁定。该驱动方案稳定、可靠，并可合理设计连杆长度以控制索长变化量。
附图说明
图1(a)、图1(b)和图1(c)为薄膜二维收拢方案示意图；
图2(a)、图2(b)和图2(c)为刚架二维展开方案示意图；
图3(a)为可展开机构完全收拢状态示意图；
图3(b)为可展开机构各杆件连接关系示意图；
图4(a)为驱动方案示意图(机构展开中间态)；
图4(b)为驱动方案示意图(机构完全展开态)；
图5(a)～(f)为机构展开过程示意图；
图6为机构收拢高度与展开口径及刚架分段数间的几何关系示意图；
图7为机构收拢直径与刚架分段数及刚架杆直径间的几何关系示意图；
图8为索长与连杆长度间的几何关系示意图；
图中：1—平面薄膜；2—可展开机构；3—牵连索；4—卫星；5—刚架a；6—刚架b；7—长同步杆a；8—长同步杆b；9—连杆a；10—连杆b；11—短同步杆a；12—短同步杆b；13—螺栓螺母；14—扭簧；15—拉索；16—滑轮；17—环向接头a；18—环向接头b；19—径向接头；20—铰接接头。
具体实施方式
下面结合附图和实施例对发明作进一步的详细说明，但并不作为对发明做任何限制的依据。
如图1(a)、图1(b)和图1(c)所示，本发明空间平面薄膜天线可展开机构，包括可展开机构2，以及通过牵连索3连接在可展开机构2上的平面薄膜1，收拢态的圆柱体薄膜放置于收拢态的可展开机构内部，薄膜边界由牵连索张拉于刚架中间位置，刚架展开过程中，通过牵连索牵拉圆柱体薄膜旋转展开，展开态外形为一刚性正多边形。
如图2(a)、图2(b)和图2(c)所示，展开的对象为平面薄膜1阵面，膜面分布有多条折叠线，平面薄膜1首先沿所示路径折叠，然后绕其几何中心旋转收拢成一圆柱体结构。
如图3(a)所示，可展开机构2由刚架a5和刚架b6首尾相铰接构成环形结构，在靠近刚架a5和刚架b6的铰接端两侧分别连接有相互铰接的短同步杆a11和短同步杆b12，短同步杆a11和短同步杆b12上分别铰接有连杆a9和连杆b10，连杆a9和连杆b10分别连接一对相互铰接的长同步杆a7和长同步杆b8，长同步杆a7和长同步杆b8分别铰接在刚架a5和刚架b6上；长同步杆a7和长同步杆b8分别连接到相邻的连杆b10和连杆a9上，下一级连杆b10和连杆a9再连接到下一级短同步杆b12和短同步杆a11上，依次类推，构成铰接式刚性正多边形可展开机构2桁架。
刚架a5与刚架b6通过环向接头a17铰接，长同步杆a7与长同步杆b8、短同步杆a11与短同步杆b12通过环向接头b18铰接；长同步杆a7与刚架a5、长同步杆b8与刚架b6、短同步杆a11与刚架b6、短同步杆b12与刚架a5之间通过径向接头19铰接；连杆a9与长同步杆b8、连杆a9与短同步杆a11、连杆b10与短同步杆b12、连杆b10与长同步杆a7之间通过铰接接头20铰接。
其中，相邻两刚架(刚架a5、刚架b6)与相邻两同步杆(短同步杆a11、短同步杆b12或长同步杆a7、长同步杆b8)之间构成一铰接式同步四边形机构，为保证机构完全展开，该同步四边形机构中刚架a5、刚架b6的铰接部分长度不大于同步杆(短同步杆a11、短同步杆b12或长同步杆a7、长同步杆b8)铰接部分的长度，且短同步杆(短同步杆a11、短同步杆b12)的长度与长同步杆(长同步杆a7、长同步杆b8)在同步四边形机构中的长度相等；机构展开过程中，刚架之间的夹角由0°不断增大，当两相邻刚架与环向接头a17位于同一平面内时，四边形机构将构成空间三角形机构。连杆(连杆a9或连杆b10)与刚架(刚架b6或刚架a5)、长同步杆(长同步杆b8或长同步杆a7)的一段、短同步杆(短同步杆a11或短同步杆b12)的一段铰接成平行四边形机构，连杆(连杆a9或连杆b10)对两相邻的同步四边形机构起到联动作用。可展开机构2收拢后的空心圆柱体为三层杆件嵌套而成，其中内层为刚架(刚架a5、刚架b6)结构，中间层为同步杆(短同步杆a11、短同步杆b12和长同步杆a7、长同步杆b8)结构，最外层为连杆结构(连杆a9或连杆b10)。其中最内层刚架(刚架a5、刚架b6)与中间层的同步杆(短同步杆a11、短同步杆b12和长同步杆a7、长同步杆b8)之间通过径向接头19连接，中间层同步杆(短同步杆a11、短同步杆b12和长同步杆a7、长同步杆b8)与最外层连杆(连杆a9或连杆b10)之间通过铰接接头20连接。
图3(b)为可展开机构2收拢状态示意图，收拢态外形为一圆柱体。
如图4(a)所示，在环向接头a17、环向接头b18和径向接头19上均装有滑轮16。
一对刚架a5和刚架b6、一对连杆、一对长同步杆和一对短同步杆均为空心圆管结构，其空心圆管上在其两端分别沿径向各开有一个与接头连接相配合的通孔。其中，刚架a5或刚架b6连接到卫星4上。
本结构中，环向接头a17为一“V”形槽状结构，接头两端及其对称中心槽壁上各开一对与螺栓相配合的通孔，环向接头a17一端通孔与刚架a5一端通孔通过螺栓螺母13铰接，另一端通孔与刚架b6一端通孔通过螺栓螺母13铰接，环向接头a5根端通孔与滑轮轴向通孔通过螺栓螺母13连接，刚架a5、刚架b6及滑轮16均安装于环向接头a17的“V”形槽内部。环向接头b18为一“V”形槽状结构，接头两端及其对称中心槽壁上各开一对与螺栓相配合的通孔，环向接头b18一端通孔与长同步杆a7一端通孔通过螺栓螺母13铰接，环向接头b18另一端通孔与长同步杆b8一端通孔通过螺栓螺母13铰接，环向接头b18根端通孔与滑轮轴向通孔通过螺栓螺母13连接，环向接头b18上的滑轮装在环向接头b18侧面；长同步杆a7与长同步杆b8安装于环向接头b18的“V”形槽内部。
环向接头a17和环向接头b18上的滑轮在同一个四边形机构中的安装位置的中心连线与可展开机构2展开态圆环的垂线平行。
径向接头19为一实心圆杆，圆杆两端沿轴向各伸出一个与螺栓尺寸相同的细短杆，细短杆末端设有与螺母相配合的螺纹，径向接头19一端依次插入滑轮轴向通孔及刚架a5上距其端部一定距离处的通孔，并通过螺母铰接；此外，另一径向接头a19一端依次插入滑轮轴向通孔及刚架b6上距其端部一定距离处的通孔，并通过螺母铰接。
铰接接头20与径向接头19结构相同，同样为一实心圆杆，圆杆两端沿轴向各伸出一个与螺栓尺寸相同的细短杆，细短杆末端设有与螺母相配合的螺纹。
如图3(b)出示了可展开机构2收拢状态结构示意图。
如图4(a)所示，在可展开机构2骨架上连接有拉索15，拉索15依次绕过刚架a5与长同步杆a7连接处径向接头a19的滑轮、环向接头b18上的滑轮、环向接头a17上的滑轮、刚架b6与长同步杆b8连接处径向接头a19的滑轮、 刚架b6与短同步杆a11连接处径向接头a19的滑轮、环向接头b18上的滑轮、环向接头a17上的滑轮、刚架a5与短同步杆b12连接处径向接头a19的滑轮，拉索15再连接到下一级刚架a5与长同步杆a7连接处径向接头a19的滑轮上，依次类推，形成一闭合回路；拉索15首尾端连接到卫星4的电机轴上。
机构采用扭簧14与拉索15联合驱动，其中，一对扭簧14分别安装于环向接头a17与刚架a5和刚架b6的铰接位置的螺栓上，扭簧14一臂插入刚架a5或刚架b6的空心圆管内，另一臂由环向接头a17与滑轮的连接螺栓进行限位。可展开机构2完全收拢时，扭簧14通过自身形变储藏一定弹性势能，可展开机构2展开前期依靠扭簧所储藏的弹性能展开，此后依靠卫星4上的电机收卷拉索15驱动可展开机构2展开，可展开机构2展开状态见图4(b)所示。
图5(a)～图5(f)为该机构展开过程示意图，天线周边刚架划分12段。
如图6结合图2(a)、图2(b)和图2(c)所示，本装置的平面薄膜1为带有花边状的圆形结构，在平面薄膜1上分布有多条折叠线，折叠线为一个沿中心向圆周边呈弧形放射状结构。在平面薄膜1花边的顶点处通过牵连索3连接在可展开机构2上的刚架a5或刚架b6的中部。
机构收拢态圆柱体的高度t及直径d可根据天线口径D及刚架分段数k合理设计，具体通过下述方法得到：
如图6所示，刚架收拢高度为每段刚架长度t。设刚架分段数量为k，则机构完全展开后每段刚架所对圆心角
Figure PCTCN2017119557-appb-000001
应为：
Figure PCTCN2017119557-appb-000002
连接某段刚架两端点与机构展开态圆环的圆心，所形成的三角形中，有：
Figure PCTCN2017119557-appb-000003
其中：R＝D/2
由(1)式及(2)式可得：
Figure PCTCN2017119557-appb-000004
如图7所示，设机构杆件半径为r l，刚架分段数量为k，刚架收拢态圆柱体半径为r。刚架收拢态每根杆件半径r l所对圆心角α为：
α＝π/k                              (4)
则刚架收拢半径r为：
r＝r l/sinα                           (5)
由(4)式及(5)式可得，刚架收拢态圆柱体直径d为：
d＝2r l/sin(π/k)                         (6)
由(3)式及(6)式可知，当天线展开口径D确定后，在不考虑刚架分段数对膜面精度影响的前提下，可根据刚架分段数量k合理设计机构收拢高度t及收拢直径d。
通过设计铰接杆长度可合理控制索长变化量，具体通过下述方法得到：
如图8所示，设机构展开角为α，同步连杆长度为l 1，刚架铰接部分长度为l 2，为保证刚架完全展开，需满足l 2＜l 1。则刚架展开角为α时刻的一个四杆单元中的索长h α为:
h α＝l 1cosβ+l 2cosα                                (7)
在拉索与连杆组成的三角形中，由正弦定理得：
Figure PCTCN2017119557-appb-000005
由(7)式及(8)式可得h α为：
Figure PCTCN2017119557-appb-000006
在机构展开过程中，索长逐渐较小，当展开角α为0°时单元索长h 0°为：
h 0°＝l 1+l 2                                    (10)
则机构展开过程中，由(9)式及(10)式可得铰接四杆单元的拉索收缩量Δh＝h 0°-h α，则Δh为：
Figure PCTCN2017119557-appb-000007
若周边刚架划分k段，由(11)式可知，当机构展开角α为90°时，机构展开过程中拉索收缩量最大值Δh max为：
Figure PCTCN2017119557-appb-000008
下面进一步给出本发明的空间平面薄膜天线可展开机构的展开过程，包含以下步骤：
1)完全收拢状态下，刚架a5与刚架b6、连杆a9与连杆b10、长同步杆a7与长同步杆b8及短同步杆a11与短同步杆b12之间的夹角均为0°，可展开机构2外形为一三层杆件嵌套而成的圆柱体。其中内层为刚架结构，中间层为同步结构，包括长同步杆与短同步杆，最外层为连杆结构，其中最内层刚架结构与中间层的同步杆之间通过径向接头19连接，中间层同步杆与最外层连杆之间通过径向接头19连接。可展开机构2展开前期依靠扭簧14驱动刚架绕环向接头a17上的铰接螺栓轴线转动，并带动长同步杆及短同步杆绕刚架与其自身铰接位置的螺栓轴线作反向转动，连杆连接较长同步杆与较短同步杆作同步运动，从而使环向接头a17与环向接头b18之间距离减小，圆柱体高度不断降低，口径面积不断扩大，展开前期指刚架转动角度为[0°,10°]。
2)可展开机构2展开后期依靠卫星4的电机收卷拉索15进行驱动，拉索通过张拉环向接头a17与环向接头b18使其间距不断减小，直至刚架a5、环向接头a17及刚架b6均位于同一平面内时，环向接头a17与环向接头b18间距达到最小值，机构完全展开，展开态为一桁架铰接式刚性正多边形，展开后期指刚架转动角度为[10°，90°]。
本发明并不局限于上述实施例，在本发明公开的技术方案的基础上，本领域的技术人员根据所公开的技术内容，不需要创造性的劳动就可以对其中的一些技术特征作出一些替换和变形，这些替换和变形均在本发明的保护范围内。

Claims (10)

  1. 一种空间平面薄膜天线可展开机构，包括可展开机构(2)，以及通过牵连索(3)连接在可展开机构(2)上的平面薄膜(1)，其特征在于，在可展开机构(2)上设有首尾相互铰接的刚架、连接在刚架上的一对短同步杆，一对短同步杆分别连接一对连杆，一对连杆分别连接一对相互铰接的长同步杆，一对长同步杆分别铰接在一对刚架上；一对长同步杆分别连接到相邻的一对连杆上，下一级一对连杆再连接到下一级短同步杆上，依次类推，构成可展开机构(2)桁架；
    一对刚架、一对短同步杆和一对长同步杆分别通过一对环向接头铰接，长同步杆与刚架、短同步杆与刚架之间通过径向接头(19)铰接；在一对环向接头和径向接头(19)上装有滑轮(16)，拉索(15)依次绕过一对环向接头和径向接头(19)上的滑轮形成一闭合回路；拉索(15)首尾端连接到卫星(4)的电机轴上，通过卫星(4)上的电机收卷拉索(15)驱动可展开机构(2)展开。
  2. 根据权利要求1所述的空间平面薄膜天线可展开机构，其特征在于，所述可展开机构(2)由刚架a(5)和刚架b(6)首尾相铰接构成环形结构，在靠近刚架a(5)和刚架b(6)的铰接端两侧分别连接有相互铰接的短同步杆a(11)和短同步杆b(12)，短同步杆a(11)和短同步杆b(12)上分别铰接有连杆a(9)和连杆b(10)，连杆a(9)和连杆b(10)分别连接一对相互铰接的长同步杆a(7)和长同步杆b(8)，长同步杆a(7)和长同步杆b(8)分别铰接在刚架a(5)和刚架b(6)上；长同步杆a(7)和长同步杆b(8)分别连接到相邻的连杆b(10)和连杆a(9)上，下一级连杆b(10)和连杆a(9)再连接到下一级短同步杆b(12)和短同步杆a(11)上，依次类推，构成铰接式刚性正多边形可展开机构(2)桁架。
  3. 根据权利要求2所述的空间平面薄膜天线可展开机构，其特征在于，所述刚架a(5)与刚架b(6)通过环向接头a(17)铰接，长同步杆a(7)与 长同步杆b(8)、短同步杆a(11)与短同步杆b(12)通过环向接头b(18)铰接；
    长同步杆a(7)与刚架a(5)、长同步杆b(8)与刚架b(6)、短同步杆a(11)与刚架b(6)、短同步杆b(12)与刚架a(5)之间通过径向接头(19)铰接；
    连杆a(9)与长同步杆b(9)、连杆a(9)与短同步杆a(11)、连杆b(10)与短同步杆b(12)、连杆b(10)与长同步杆a(7)之间通过铰接接头(20)铰接。
  4. 根据权利要求3所述的空间平面薄膜天线可展开机构，其特征在于，相邻两刚架与相邻两同步杆之间构成一铰接式同步四边形机构，该同步四边形机构中一对刚架的铰接部分长度不大于同步杆铰接部分的长度，且短同步杆的长度与长同步杆在同步四边形机构中的长度相等；
    可展开机构(2)展开过程中，刚架之间的夹角由0°不断增大，当两相邻刚架与其之间的环向接头位于同一平面内时，四边形机构将构成空间三角形机构。
  5. 根据权利要求4所述的空间平面薄膜天线可展开机构，其特征在于，所述一对环向接头均为一“V”形槽状结构，所述环向接头两端通孔分别与一对刚架一端通孔通过螺栓及螺母铰接；环向接头“V”形槽根端通孔与滑轮轴连接；
    安装于环向接头a(17)的滑轮在其“V”形槽内部，安装于环向接头b(18)的滑轮在其侧面，环向接头a(17)和环向接头b(18)上的滑轮在同一个四边形机构中的安装位置的中心连线与可展开机构(2)展开态圆环的垂线平行；
    所述径向接头(19)为一实心圆杆，圆杆两端沿轴向各伸出一个细短杆，细短杆末端分别与刚架、短同步杆或长同步杆相连。
  6. 根据权利要求1所述的空间平面薄膜天线可展开机构，其特征在于，可展开机构(2)收拢后的空心圆柱体为三层杆件嵌套而成，其中内层为刚架结构，中间层为同步杆结构，最外层为连杆结构。
  7. 根据权利要求1所述的空间平面薄膜天线可展开机构，其特征在于，所述刚架、连杆、长同步杆和短同步杆均为空心圆管结构，其空心圆管上在其两端分别沿径向各开有一个与所述接头连接相配合的通孔。
  8. 根据权利要求2所述的空间平面薄膜天线可展开机构，其特征在于，在可展开机构(2)骨架上连接有拉索(15)，拉索(15)依次绕过刚架a(5)与长同步杆a(7)连接处径向接头(19)的滑轮、环向接头b(18)上的滑轮、环向接头a(17)上的滑轮、刚架b(6)与长同步杆b(8)连接处径向接头(19)的滑轮、刚架b(6)与短同步杆a(11)连接处径向接头(19)的滑轮、环向接头b(18)上的滑轮、环向接头a(17)上的滑轮、刚架a(5)与短同步杆b(12)连接处径向接头(19)的滑轮，拉索(15)再连接到下一级刚架a(5)与长同步杆a(7)连接处径向接头(19)的滑轮上，依次类推，形成一闭合回路；拉索(15)首尾端连接到卫星(4)的电机轴上。
  9. 根据权利要求1所述的空间平面薄膜天线可展开机构，其特征在于，所述平面薄膜(1)为带有花边状的圆形结构，在平面薄膜(1)上分布有多条折叠线，折叠线为一个沿中心向圆周边呈弧形放射状结构；在平面薄膜(1)花边的顶点处通过牵连索(3)连接在可展开机构(2)上的刚架的中部。
  10. 一种权利要求1-9任一项所述的空间平面薄膜天线可展开机构的展开方法，其特征在于，包括下述过程：
    1)完全收拢状态下，一对刚架、一对连杆、一对长同步杆及一对短同步杆之间的夹角均为0°，可展开机构(2)外形为一三层杆件嵌套而成的圆柱体；可展开机构(2)展开前依靠扭簧(14)驱动刚架绕环向接头a(17)上的铰接螺栓轴线转动，并带动长同步杆及短同步杆绕刚架与其自身铰接位置的螺栓轴线作反向转动，一对连杆连接一对长同步杆与一对短同步杆作同步运动，从而使环向接头a(17)与环向接头b(17)之间距离减小，圆柱体高度不断降低，口径面积不断扩大；
    2)可展开机构(2)展开后期依靠卫星(4)的电机收卷拉索(15)进行驱动，拉索通过张拉环向接头a(17)与环向接头b(18)使其间距不断减小，直至刚架a(5)、环向接头a(17)及刚架b(6)均位于同一平面内时，环向接头a(17)与环向接头b(18)间距达到最小值，机构完全展开，展开态为一桁架铰接式刚性正多边形。
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