工程科学与技术2026，Vol.58Issue(3)：35-47,13.DOI:10.12454/j.jsuese.202401013
星载仿生树状可展开天线机构运动学建模与分析
Kinematic Modeling and Analysis of a Space Bionic Tree Deployable Antenna Mechanism
摘要
Abstract
Objective Space deployable antennas are a new type of space structure developed with the rapid advancement of aerospace technology.In recent years,with China's increasing frequency of space exploration activities,ranging from the Earth-Moon system to interplanetary space,subsequent aerospace engineering projects have raised urgent demands for deployable antennas that must balance comprehensive performance indicators,in-cluding large aperture,lightweight design,and high precision.Meanwhile,kinematic characteristic analysis serves as a crucial approach to vali-date the feasibility of innovative mechanism designs.Nevertheless,there are relatively few studies on the kinematic modeling of complex space deployable antennas that can be transformed into planar mechanisms.Accordingly,this paper proposes a new configuration of a bionic tree-like deployable antenna mechanism and investigates its kinematic characteristics as a multi-stage,multi-closed-loop mechanism. Methods First,by analyzing the bionic mechanisms of tree branching structures and large-span tree-like support structures and considering the practical design requirements of deployable antennas,design principles for bionic tree-like deployable antenna mechanisms are proposed.Based on the proposed antenna configuration,the overall design and deployment principle are introduced.Second,based on the closed-loop vector method and coordinate transformation method,the rib units are divided into sub-units,and the internal closed-loop circuits within these sub-units are decomposed.Accordingly,the kinematic models of the rib unit and the entire antenna structure are established,which consist of multi-level deployable units connected in series and nested closed-loop circuits.By analyzing the motion characteristics of the outer branching beam and its spatial geometric relationships,spatial coordinate models of key nodes are established.In addition,a driving strategy of"outer rotation parallel,inner rotation zeroing"is formulated,and a corresponding driving strategy model is established for the branching outer beam to avoid interference during the deployment process.Finally,the antenna kinematic model and the branching outer beam driving strategy model are simulated and ana-lyzed using numerical software such as MATLAB,while the branch slider displacements and the key angular displacements during the deploy-ment process are selected for validation.The 30 m-class antenna scaled model is imported into ADAMS for further comparative validation and analysis. Results and Discussions The simulation results indicate that,for the driven branching outer beam,there are displacement deviations between the two simulation results obtained using ADAMS and MATLAB.However,the motion trends are consistent,thereby verifying the correctness of the modeling.The primary cause of the error appears to be inaccuracies in the calculation of the spatial coordinate transformation angles.Addition-ally,the larger size of the antenna appears to amplify the error.At time t=0 s,the antenna mechanisms are in a fully retracted state,and there is no interference between the rib units.In the initial phase(t=1～6 s),the antenna mechanism undergoes a gradual deployment process.The key point J3 of the fixed branching outer beam enters the danger zone after t=2 s,thereby causing interference.Concurrently,the driven branching outer beam maintains parallel alignment with the plane of the trunk deployable unit through continuous external rotation.Notably,the key point does not enter the danger zone during this period.At t=50 s,the driven branching outer beam has moved away from the danger zone and is in a state of internal rotation.At this time,the antenna has nearly completed deployment,with most of the displacement achieved.This indicates that,although the trunk slider moves at a uniform speed,the synchronized deployment of the branching deployable unit is mainly concentrated within the first 50 s and is therefore not a uniform-speed motion.At t=100 s,the antenna is fully deployed.The fixed branching outer beam does not reach its preset position due to the absence of internal rotation to offset both the initial angular displacement and that generated by external rota-tion.In contrast,the driven branching outer beam reaches the preset position through internal rotation.At this stage,the branching outer beam is coplanar with the branching deployable unit,ensuring that the outer layer of the rope is smoothly tensioned.The branching slider displacement and angular displacement first gradually increase and then gradually decrease during t=1～6 s,and the trend of the curves is consistent with the motion trajectory of the key point. Conclusions In this paper,to address the urgent requirements of future large-scale development,a novel configuration of a large-aperture bionic tree-like deployable antenna mechanism is proposed.The antenna mechanism takes the tree branching structure as the bionic prototype,and kine-matic modeling,motion characteristic analysis,and numerical simulation are conducted to investigate its performance.By analyzing the bionic mechanism of tree branching geometry,design criteria applicable to deployable antennas are extracted,thereby providing a theoretical reference for the systematic design of antenna configurations.On this basis,a kinematic parametric model of a deployable antenna with multilevel deploy-able units connected in series and multiple nested closed-loop mechanisms is established,and the mutual coupling relationships between the an-tenna structural parameters are clarified,which provides a basis for subsequent optimization of antenna structural design.Furthermore,by analyz-ing the kinematic characteristics of the antenna branching outer beam during the deployment process,a driving strategy of"parallel external rota-tion and zero internal rotation"is proposed.This strategy has been shown to be effective in avoiding interference during the deployment process of the branching outer beam.The validity and correctness of this strategy are verified through numerical simulation analysis.关键词
空间可展开天线/结构设计/运动学分析/空间几何建模/数值仿真分析Key words
space deployable antenna/structural design/kinematic analysis/spatial geometry modeling/numerical simulation analysis分类
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田大可,张逸凡,李明,周鑫,刘荣强,金路,林浩,邵海麒..星载仿生树状可展开天线机构运动学建模与分析[J].工程科学与技术,2026,58(3):35-47,13.基金项目
宇航空间机构全国重点实验室开放课题 （）
国家自然科学基金项目(U2341237) （U2341237）
辽宁省教育厅基本科研项目(LJ222410153096 （）
JYTMS20231592) （）
