被动输入过约束空间多环耦合构架式航天可展天线机构关键技术研究

构架式航天可展天线在国内外已经获得了多次在轨应用，是未来大口径、高精度天线的重要实现手段。该类天线机构为空间多环耦合机构，比传统的并联和混联机构复杂很多，而国内外关于空间多环耦合机构自由度分析与构型综合的研究非常少。此外，构架式航天可展天线机构展开过程存在驱动冗余，但是驱动方式是被动的，这里称之为被动输入过约束机构，目前关于这种特殊过约束机构展开过程静不定力学及位形协调问题的研究几乎空白。因此，本项目拟研究空间多环耦合构架式可展天线机构的自由度分析手段，探索构架式可展天线机构的构型综合方法，建立系统的空间多环耦合可展天线机构自由度分析与构型综合理论体系；分析被动输入过约束可展天线机构展开过程驱动力矩分配与变化的基本原理，从运动协调角度重新定义机构内力，设计驱动策略以降低甚至消除机构内力，从而实现天线协调、平稳地展开。研究成果将为构架式航天可展天线的设计及开发提供重要的理论指导与技术支撑。

The truss space deployable antennas have received many in-orbit applications at home and abroad, which is one of the most important means of achieving the large-diameter and high-precision antennas in the future. The mechanism of the truss deployable antennas is more complicated than that of traditional parallel and hybrid mechanisms, since it has spatial multi-loop coupling kinematic chains. At present, there are very few literatures focusing on the DoF (degree of freedom) analysis and type synthesis of this kind of antenna mechanism. Besides, for the mechanism of the truss space deployable antennas, there exist redundant actuations during the deploying process. It is worth noting that the actuations of this kind of mechanism are passive, so that it is called as overconstrained mechanism with passive inputs in this project. There is almost no study on the statically indeterminate force problem and configuration coordination of this kind of special overconstrained mechanism. Therefore, this project will explore the method for the DoF analysis and type synthesis of the spatial multi-loop coupling mechanism of the truss deployable antennas, aiming to establish the corresponding theoretical system. Moreover, the basic principle of the driving torques distribution and variation during the deploying process of this overconstrained mechanism of deployable antennas with passive inputs will be analyzed, the internal forces will be re-defined from the perspective of motion coordination, the control strategies will be designed to reduce or even eliminate the internal forces, so that the coordinated and smooth motion of the truss deployable antennas can be achieved. The research results will provide a theoretical guidance and technical support for the design and development of the truss space deployable antennas.