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工程设计学报
Chinese Journal of Engineering Design  2024, Vol. 31 Issue (1): 20-30    DOI: 10.3785/j.issn.1006-754X.2024.03.306
Robotic and Mechanism Design     
Kinematics analysis of scissor deployable mechanism with variable Poisson motion characteristics
Boyan CHANG1,2(),Shengjie YAN1,Dong LIANG1,2,Xin GUAN1,Fangxiao HAN1
1.School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
2.Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tianjin 300387, China
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Abstract  

In order to improve the folding rate and support performance of deployable mechanisms, a scissor deployable mechanism with variable Poisson motion characteristics is proposed and its kinematics analysis is conducted. Firstly, a thick panel support unit with single-closed-loop was proposed and applied to sandwich structures. Through analyzing the influence of different shape sandwich layers on the support stiffness of sandwich structure by using ANSYS Workbench software, it was found that the sandwich structure with thick plate support unit had better support effect and smaller mass, and the positive and negative Poisson' ratio could be switched by changing the structural design parameters. Secondly, according to the definition of Poisson' ratio, a regular n-sided scissor deployable mechanism with variable Poisson motion characteristics was designed. Based on the screw theory, the screw constraint topology graph of the closed-loop deployable mechanism was drawn to analyze its degree of freedom as 1. The deployable mechanism was divided into three modules, and the principle and process of modular longitudinal expansion were described. Finally, the kinematics model of the m-layer regular n-sided scissor deployable mechanism was established and the prototype of the regular quadrilateral scissor deployable support structure was set up to further verify the variable Poisson motion characteristics of the mechanism, which could provide a theoretical basis for the follw-up research.

Key words： sandwich structure      scissor deployable mechanism      screw theory      kinematics analysis     
Received: 20 October 2023      Published: 04 March 2024
CLC:  TH 112  
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Boyan CHANG
Shengjie YAN
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Cite this article:

Boyan CHANG,Shengjie YAN,Dong LIANG,Xin GUAN,Fangxiao HAN. Kinematics analysis of scissor deployable mechanism with variable Poisson motion characteristics. Chinese Journal of Engineering Design, 2024, 31(1): 20-30.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.306     OR     https://www.zjujournals.com/gcsjxb/Y2024/V31/I1/20


具有变泊松运动特性的剪叉式折展机构运动学分析

为提高折展机构的折展率和支撑性能，提出了一种具有变泊松运动特性的剪叉式折展机构并对其进行运动学分析。首先，提出了一种单闭环厚板支撑单元并将其应用于三明治结构，利用ANSYS Workbench软件分析不同形状夹芯层对三明治结构支撑刚度的影响，发现采用厚板支撑单元的三明治结构具有更好的支撑效果和更小的质量，且可通过改变结构设计参数来实现正负泊松比的切换。然后，根据泊松比的定义，设计了一种具有变泊松运动特性的正n边形剪叉式折展机构；基于螺旋理论，通过绘制闭环折展机构的旋量约束拓扑图分析得到其自由度为1，将折展机构分为3种模块并阐述了模块化纵向扩展的原理和过程。最后，建立了m层正n边形剪叉式折展机构的运动学模型并搭建了正四边形剪叉式折展支撑结构实物样机，进一步验证了机构的变泊松运动特性，这可为后续的研究提供理论基础。


关键词： 三明治结构,  剪叉式折展机构,  螺旋理论,  运动学分析 
Fig.1 Crease distribution diagram of regular n-sided single-closed-loop origami model
Fig.2 Regular quadrilateral single-closed-loop origami model
Fig.3 Extension of regular quadrilateral thick plate model
Fig.4 Common shapes of sandwich layer
夹角长度宽度厚度
θ=60°381973
θ=90°5461303
θ=120°7111633
Table 1 Panel design parameters for three new sandwich structures
Fig.5 Deformation nephogram of seven sandwich structures
夹芯层形状应力/Pa变形量/mm夹芯层质量/g
Ⅰ1)1.594 19.473 5×10-5622.406
Ⅱ2)1.610 21.990 2×10-4676.104
Ⅲ3)1.838 65.427 0×10-4640.240
几字形1.380 93.133 0×10-41 316.016
拱形3.406 72.347 8×10-31 322.404
梯形2.149 88.376 0×10-41 342.403
蜂窝形2.836 21.281 0×10-31 806.590
Table 2 Maximum stress, maximum deformation and sandwich layer mass of seven sandwich structures
Fig.6 Influence of included angle θ onPoisson's ratio effect of regular quadrilateral support structure
Fig.7 Equivalent mechanism model of regular n-sided thick panel model
Fig.8 Schematic of ngative Poisson' ratio effect of regular quadrilateral scissor deployable mechanism with θ=60°
Fig.9 Schematic of positive Poisson' ratio effect of regular quadrilateral scissor deployable mechanism with θ=120°
Fig.10 Variation curve of transverse strain of regular quadrilateral scissor deployable mechanism
Fig.11 Regular quadrilateral scissor deployable mechanism and its coordinate system
Fig.12 Screw constraint topology graph of regular quadrilateral scissor deployable mechanism
Fig.13 Regular quadrilateralscissor deployable mechanism with m-layer
Fig.14 Motion process of regular quadrilateralscissor deployable mechanism withthree-layer
Fig.15 Motion law at the revolute D32 of three-layer regular quadrilateralscissor deployable mechanism
Fig.16 Variation curve of Poisson motion characteristic coefficient of regular n-sided scissor deployable mechanism
Fig.17 Development of regular quadrilateral support structure prototype
Fig.18 Development of regular quadrilateral scissor deployable support structure prototype
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