CN102912852A - Regular tetrahedral symmetrical deployable mechanism unit - Google Patents
Regular tetrahedral symmetrical deployable mechanism unit Download PDFInfo
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- CN102912852A CN102912852A CN2012103979081A CN201210397908A CN102912852A CN 102912852 A CN102912852 A CN 102912852A CN 2012103979081 A CN2012103979081 A CN 2012103979081A CN 201210397908 A CN201210397908 A CN 201210397908A CN 102912852 A CN102912852 A CN 102912852A
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Abstract
The invention discloses a regular tetrahedral symmetrical deployable mechanism unit which comprises 16 three-rod intersected connecting nodes and 24 equilong connecting rod units, wherein each three-rod intersected connecting node is provided with three revolute pairs, and the three-rod intersected connecting node is respectively connected with three connecting rod units through the three revolute pairs, and the two ends of the each connecting rod unit are respectively connected with different three-rod intersected connecting nodes through the revolute pairs; and the axial leads of the three revolute pairs on each three-rod intersected connecting node are located in a same plane, and a triangle formed by the intersection of the axial leads of the three revolute pairs is an equilateral triangle, a connecting rod installing position of each revolute pair is arranged at the midpoint of an edge of the equilateral triangle, and a connecting rod unit is perpendicular to the axial lead of the revolute pair connected with the connecting rod unit. The deployable mechanism unit disclosed by the invention is just composed of connecting rods and revolute pairs, so that the deployable mechanism unit is simple in structure, beautiful in modelling, convenient to manufacture, and easy to be folded and unfolded.
Description
Technical field
The present invention relates to mechanism and deployable structure, relate in particular to a kind of positive tetrahedron symmetric form development agency unit.
Background technology
Deployable structure can by the folded state rapid deployment moulding of compactness, cause designer and engineer's extensive concern, and obtain gradually the engineering application.In recent years, the researcher has proposed the deployable structure unit of several types, and wherein cutting hinge formula unit is elementary cell comparatively common in the deployable structure, and Bennett unit and the Bricard unit of deriving belong to the closed annular mechanism of another kind of classics.More than a few class elementary cells all have the single dof mobility characteristic, and the many of structure can provide the extra rigidity of structure from stress mode, have brought into play important function in the deployable structure design.But the mechanism unit type of present stage is still less, has brought larger difficulty for the design of novel deployable structure and engineering application.Therefore, designing a kind of novel development agency unit will have great importance for the diversity of enriching deployable structure.
Summary of the invention
Technical problem: the object of the invention is to overcome deficiency of the prior art, provide a kind of motion process continuous, reversible, be convenient to positive tetrahedron symmetric form development agency unit folding and that launch.
Technical scheme: positive tetrahedron symmetric form development agency of the present invention unit, comprise that 16 three bars intersect connected node and 24 isometric linkage units, be provided with three revolute pairs on the crossing connected node of each three bar, three bars intersect connected node and are connected with three linkage units respectively by three revolute pairs, and the two ends of each linkage unit connect by revolute pair from the crossing connected node of three different bars respectively; The axial line that each three bar intersects three revolute pairs on the connected node is positioned at same plane, and it is equilateral triangle that the axial line of three revolute pairs intersects the triangle that forms, the connecting rod installation site of revolute pair is positioned at the midpoint on equilateral triangle limit, place, and linkage unit is perpendicular to the axial line of the revolute pair that connects.
Among the present invention, 16 three bars intersect connected node and are respectively first node, Section Point, the 16 node, 24 linkage units are respectively first connecting rod, second connecting rod, the 24 connecting rod, first node and first connecting rod, second connecting rod is connected with third connecting rod, Section Point and the 4th connecting rod, the 5th connecting rod connects with the 6th connecting rod, the 3rd node and seven-link assembly, the 8th connecting rod connects with the 9th connecting rod, the 4th node and the tenth connecting rod, the 11 connecting rod connects with the 12 connecting rod, the 5th node and the 8th connecting rod, the 13 connecting rod connects with the 14 connecting rod, the 6th node and the 11 connecting rod, the 14 connecting rod connects with the 15 connecting rod, the 7th node and second connecting rod, the 13 connecting rod connects with the 15 connecting rod, the 8th node and the 6th connecting rod, the 16 connecting rod connects with the 18 connecting rod, the 9th node and third connecting rod, the 16 connecting rod connects with the tenth seven-link assembly, protelum point and the 12 connecting rod, the tenth seven-link assembly connects with the 18 connecting rod, the 11 node and the 4th connecting rod, the 19 connecting rod connects with the 21 connecting rod, the 12 node and seven-link assembly, the 19 connecting rod connects with the 20 connecting rod, the 13 node and first connecting rod, the 20 connecting rod connects with the 21 connecting rod, the 14 node and the 5th connecting rod, the 22 connecting rod connects with the 24 connecting rod, the 15 node and the 9th connecting rod, the 22 connecting rod connects the 16 node and the tenth connecting rod with the 23 connecting rod, the 23 connecting rod connects with the 24 connecting rod.
Beneficial effect: the present invention compared with prior art has the following advantages:
Development agency during engineering is used at present mainly comes from the two-dimensional system that hinge formula cell formation is cut in employing, and new spatial development agency cell type is less, and mostly adopt complicated connected node or unit mode, can't obtain the comparatively ideal rate of taking in, maybe can not guarantee to have all the time the single movement degree of freedom in units folded-expansion process.By comparison, mechanism unit of the present invention belongs to three-dimensional deployable structure system based on positive tetrahedron how much, and has the single dof mobility characteristic, can be converted to by the folded state of compactness the complete deployed condition of large volume, and whole motion process have continuity and reversible tropism; In this mechanism units folded-expansion process, structure generation translation of rigid body and Rigid Body in Rotation With, and remain that the positive tetrahedron type is symmetrical, and wherein the relative bearing between first node, Section Point, the 3rd node and the 4th node remains unchanged, and all connecting rods do not produce non-compatible deformation.In addition, simple in structure, handsome in appearance, easy to make owing to this mechanism unit only is made of connecting rod and revolute pair, be convenient to folding and expansion.
Description of drawings
Fig. 1 is the schematic three dimensional views of positive tetrahedron symmetric form development agency of the present invention unit.
Fig. 2 a is the connected node schematic diagram of positive tetrahedron symmetric form development agency of the present invention unit.
Fig. 2 b is the connecting rod schematic diagram of positive tetrahedron symmetric form development agency of the present invention unit.
Fig. 3 is the different connected nodes of positive tetrahedron symmetric form development agency of the present invention unit and the schematic diagram of connecting rod.
The geometric configuration figure that Fig. 4 a is positive tetrahedron symmetric form development agency of the present invention unit under first, second and third and four node intersection.
Fig. 4 b is the schematic diagram of positive tetrahedron symmetric form development agency of the present invention unit in folding-expansion process.
Fig. 4 c is the schematic diagram of positive tetrahedron symmetric form development agency of the present invention unit under complete deployed condition.
Fig. 4 d is the schematic diagram of positive tetrahedron symmetric form development agency of the present invention unit under complete folded state.
Wherein: 1 is that three bars intersect connected node, and 2 is connecting rod, and 3 is revolute pair, 31 is revolute pair axle center line, and 101 is first node, and 102 is Section Point, 103 is the 3rd node, and 104 is the 4th node, and 105 is the 5th node, 106 is the 6th node, and 107 is the 7th node, and 108 is the 8th node, 109 is the 9th node, 110 is the 10th node, and 111 is the 11 node, and 112 is the 12 node, 113 is the 13 node, 114 is the 14 node, and 115 is the 15 node, and 116 is the 16 node, 201 is first connecting rod, 202 is second connecting rod, and 203 is third connecting rod, and 204 is the 4th connecting rod, 205 is the 5th connecting rod, 206 is the 6th connecting rod, and 207 is seven-link assembly, and 208 is the 8th connecting rod, 209 is the 9th connecting rod, 210 is the tenth connecting rod, and 211 is the 11 connecting rod, and 212 is the 12 connecting rod, 213 is the 13 connecting rod, 214 is the 14 connecting rod, and 215 is the 15 connecting rod, and 216 is the 16 connecting rod, 217 is the tenth seven-link assembly, 218 is the 18 connecting rod, and 219 is the 19 connecting rod, and 220 is the 20 connecting rod, 221 is the 21 connecting rod, 222 is the 22 connecting rod, and 223 is the 23 connecting rod, and 224 is the 24 connecting rod.
The specific embodiment
Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described further:
Fig. 1, Fig. 2 are respectively the structural representation of a kind of positive tetrahedron symmetric form of the present invention development agency unit and the schematic diagram of chief component.
Positive tetrahedron symmetric form development agency of the present invention unit, it comprises that 16 three bars intersect connected node 1 and 24 isometric linkage units 2, be provided with three revolute pairs 3 on the crossing connected node 1 of each three bar, three bars intersect connected node 1 and are connected with three linkage units 2 respectively by three revolute pairs 3, and the two ends of each linkage unit 2 connect by revolute pair 3 from the crossing connected node 1 of three different bars respectively.As shown in Figure 2, be provided with three revolute pairs 3 in the development agency of the present invention unit on each connected node 1, the axial line of three revolute pairs 3 is positioned at same plane, and it is equilateral triangle that the axial line of three revolute pairs 3 intersects the triangle that forms, the connecting rod installation site of revolute pair 3 is positioned at the midpoint on equilateral triangle limit, place, and linkage unit 2 is perpendicular to the axial line of the revolute pair 3 that connects.Connecting rod 2 can be made by hard materials such as stainless steels.
Construction geometry after development agency of the present invention unit launches fully is configured as cutting the positive tetrahedron structure, has the identical symmetric properties of positive tetrahedron structure, so this structure can be called positive tetrahedron symmetric form development agency unit.Among the present invention, the axial line 31 of revolute pair is not only perpendicular to being attached thereto the connecting rod 2 that connects, and perpendicular to the structure centre point of development agency unit and the line between connecting rod 2 mid points.As shown in Figure 3,16 three bars of positive tetrahedron symmetric form development agency unit intersect in the connected node, first node 101, Section Point 102, the 3rd node 103, the 4th node 104 are respectively three different hexagonal shared summits, and all the other 12 nodes are respectively an equilateral triangle and two hexagonal shared summits, and hexagon and triangle refer to the geometrical configuration of the closure that is made of different connecting rod 2.The positive tetrahedron that is made of first node 101, Section Point 102, the 3rd node 103, the 4th node 104 has identical structure centre point with the development agency unit.
According to Fig. 3, it is as follows to specifically describe development agency block construction of the present invention: 16 three bars intersect connected node 1 and are respectively first node 101, Section Point 102, until the 16 node 116,24 linkage units 2 are respectively first connecting rod 201, second connecting rod 202, until the 24 connecting rod 224, first node 101 and first connecting rod 201, second connecting rod 202 is connected connection with third connecting rod, Section Point 102 and the 4th connecting rod 204, the 5th connecting rod 205 connects with the 6th connecting rod 206, the 3rd node 103 and seven-link assembly 207, the 8th connecting rod 208 connects with the 9th connecting rod 209, the 4th node 104 and the tenth connecting rod 210, the 11 connecting rod 211 connects with the 12 connecting rod 212, the 5th node 105 and the 8th connecting rod 208, the 13 connecting rod 213 connects with the 14 connecting rod 214, the 6th node 106 and the 11 connecting rod 211, the 14 connecting rod 214 connects with the 15 connecting rod 215, the 7th node 107 and second connecting rod 202, the 13 connecting rod 213 connects with the 15 connecting rod 215, the 8th node 108 and the 6th connecting rod 206, the 16 connecting rod 216 connects with the 18 connecting rod 218, the 9th node 109 and third connecting rod 203, the 16 connecting rod 216 connects with the tenth seven-link assembly 217, protelum point 110 and the 12 connecting rod 212, the tenth seven-link assembly 217 connects with the 18 connecting rod 218, the 11 node 111 and the 4th connecting rod 204, the 19 connecting rod 219 connects with the 21 connecting rod 221, the 12 node 112 and seven-link assembly 207, the 19 connecting rod 219 connects with the 20 connecting rod 220, the 13 node 113 and first connecting rod 201, the 20 connecting rod 220 connects with the 21 connecting rod 221, the 14 node 114 and the 5th connecting rod 205, the 22 connecting rod 222 connects with the 24 connecting rod 224, the 15 node 115 and the 9th connecting rod 209, the 22 connecting rod 222 connects the 16 node 116 and the tenth connecting rod 210 with the 23 connecting rod 223, the 23 connecting rod 223 connects with the 24 connecting rod 224.
Figure 4 shows that the motion process schematic diagram of development agency of the present invention unit.Fig. 4 c is the schematic diagram of positive tetrahedron symmetric form development agency of the present invention unit under complete deployed condition, and the space that this moment, mechanism unit occupied is maximum; When structure is in complete folded state, shown in Fig. 4 d, mechanism unit takes up room little, be convenient to storage and transportation, and three connecting rods that link to each other with first node 101 this moment are in contact with one another, the connecting rod that links to each other with Section Point 102, the 3rd node 103 or the 4th node 104 also is in contact with one another, and structure has preferably safety.When first node in the mechanism unit 101, Section Point 102, the 3rd node 103, when the 4th node 104 intersects at same point, shown in Fig. 4 a, the space that structure is occupied is also less.Fig. 4 b is the schematic diagram of development agency unit in folding-expansion process, complex chart 4a-Fig. 4 d can find, the development agency unit whole folding-launch motion process link up, can be reverse, can move to successively state shown in Fig. 4 d by state shown in Fig. 4 a, can move to state shown in Fig. 4 a by state shown in Fig. 4 d equally, and structure remains that the positive tetrahedron type is symmetrical, only produces translation of rigid body and rotation, and each connecting rod does not produce distortion.Mechanism unit of the present invention only is made of connecting rod and revolute pair, simple in structure, owing to have the positive tetrahedron type how much, handsome in appearance, easy to make, be convenient to folding and expansion, can be applicable in the deployable structure, also can be used as the basic composition unit in the deployable structure, be used for making up novel deployable structure system.
Claims (2)
1. positive tetrahedron symmetric form development agency unit, it is characterized in that, this mechanism unit comprises that 16 three bars intersect connected node (1) and 24 isometric linkage units (2), be provided with three revolute pairs (3) on the crossing connected node (1) of each described three bar, three bars intersect connected node (1) and are connected with three linkage units (2) respectively by three revolute pairs (3), and the two ends of each described linkage unit (2) connect by revolute pair (3) from the crossing connected node (1) of three different bars respectively;
The axial line that each three bar intersects three revolute pairs (3) on the connected node (1) is positioned at same plane, and it is equilateral triangle that the axial line of three revolute pairs (3) intersects the triangle that forms, the connecting rod installation site of revolute pair (3) is positioned at the midpoint on equilateral triangle limit, place, and linkage unit (2) is perpendicular to the axial line of the revolute pair that connects (3).
2. positive tetrahedron symmetric form development agency according to claim 1 unit, it is characterized in that, described 16 three bars intersect connected node (1) and are respectively first node (101), Section Point (102), the 16 node (116), 24 linkage units (2) are respectively first connecting rod (201), second connecting rod (202), the 24 connecting rod (224), described first node (101) and first connecting rod (201), second connecting rod (202) is connected 203 with third connecting rod) connect, described Section Point (102) and the 4th connecting rod (204), the 5th connecting rod (205) connects with the 6th connecting rod (206), described the 3rd node (103) and seven-link assembly (207), the 8th connecting rod (208) connects with the 9th connecting rod (209), described the 4th node (104) and the tenth connecting rod (210), the 11 connecting rod (211) connects with the 12 connecting rod (212), described the 5th node (105) and the 8th connecting rod (208), the 13 connecting rod (213) connects with the 14 connecting rod (214), described the 6th node (106) and the 11 connecting rod (211), the 14 connecting rod (214) connects with the 15 connecting rod (215), described the 7th node (107) and second connecting rod (202), the 13 connecting rod (213) connects with the 15 connecting rod (215), described the 8th node (108) and the 6th connecting rod (206), the 16 connecting rod (216) connects with the 18 connecting rod (218), described the 9th node (109) and third connecting rod (203), the 16 connecting rod (216) connects with the tenth seven-link assembly (217), described protelum point (110) and the 12 connecting rod (212), the tenth seven-link assembly (217) connects with the 18 connecting rod (218), described the 11 node (111) and the 4th connecting rod (204), the 19 connecting rod (219) connects with the 21 connecting rod (221), described the 12 node (112) and seven-link assembly (207), the 19 connecting rod (219) connects with the 20 connecting rod (220), described the 13 node (113) and first connecting rod (201), the 20 connecting rod (220) connects with the 21 connecting rod (221), described the 14 node (114) and the 5th connecting rod (205), the 22 connecting rod (222) connects with the 24 connecting rod (224), described the 15 node (115) and the 9th connecting rod (209), the 22 connecting rod (222) connects with the 23 connecting rod (223), described the 16 node (116) and the tenth connecting rod (210), the 23 connecting rod (223) connects with the 24 connecting rod (224).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210397908.1A CN102912852B (en) | 2012-10-18 | 2012-10-18 | Regular tetrahedral symmetrical deployable mechanism unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210397908.1A CN102912852B (en) | 2012-10-18 | 2012-10-18 | Regular tetrahedral symmetrical deployable mechanism unit |
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| Publication Number | Publication Date |
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| CN102912852A true CN102912852A (en) | 2013-02-06 |
| CN102912852B CN102912852B (en) | 2014-12-24 |
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| CN201210397908.1A Expired - Fee Related CN102912852B (en) | 2012-10-18 | 2012-10-18 | Regular tetrahedral symmetrical deployable mechanism unit |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103192367A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Vertex-extensible polyhedron folding mechanism |
| CN105523196A (en) * | 2015-12-24 | 2016-04-27 | 天津大学 | Foldable polyhedral structure |
| CN106127827A (en) * | 2016-06-29 | 2016-11-16 | 先驱智能机械（深圳）有限公司 | Method for designing, article surface vein, anti-skid structure and machinery |
| CN106364701A (en) * | 2016-10-21 | 2017-02-01 | 天津大学 | Foldable tetrahedral structure |
| CN106826766A (en) * | 2017-02-28 | 2017-06-13 | 中国地质大学（武汉） | A kind of unit opened up containing 5R coupling side chains and the umbrella development agency based on this |
| CN106863270A (en) * | 2017-02-28 | 2017-06-20 | 中国地质大学（武汉） | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
| CN108412987A (en) * | 2018-03-14 | 2018-08-17 | 北京航空航天大学 | A kind of reversible pulley gear for driving development agency of restricting |
| CN109723148A (en) * | 2018-03-22 | 2019-05-07 | 王维奇 | With the seif-citing rate structural unit body that can apply prestressed hinge and its application and preparation method thereof |
| CN110589035A (en) * | 2019-10-25 | 2019-12-20 | 北京航空航天大学 | Single-degree-of-freedom tetrahedral deployable cell element mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103192367A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Vertex-extensible polyhedron folding mechanism |
| CN103192367B (en) * | 2013-04-09 | 2015-07-01 | 北京交通大学 | Vertex-extensible polyhedron folding mechanism |
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| CN106127827A (en) * | 2016-06-29 | 2016-11-16 | 先驱智能机械（深圳）有限公司 | Method for designing, article surface vein, anti-skid structure and machinery |
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| CN106826766A (en) * | 2017-02-28 | 2017-06-13 | 中国地质大学（武汉） | A kind of unit opened up containing 5R coupling side chains and the umbrella development agency based on this |
| CN106863270A (en) * | 2017-02-28 | 2017-06-20 | 中国地质大学（武汉） | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
| CN108412987A (en) * | 2018-03-14 | 2018-08-17 | 北京航空航天大学 | A kind of reversible pulley gear for driving development agency of restricting |
| CN109723148A (en) * | 2018-03-22 | 2019-05-07 | 王维奇 | With the seif-citing rate structural unit body that can apply prestressed hinge and its application and preparation method thereof |
| CN110589035A (en) * | 2019-10-25 | 2019-12-20 | 北京航空航天大学 | Single-degree-of-freedom tetrahedral deployable cell element mechanism |
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| CN102912852B (en) | 2014-12-24 |
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