| With the rapid development of information science and technology,the exploration of space is deepening and the traditional deployable space mechanism has been unable to satisfy people’s desire for information in outer apace.Therefore,the development of new deployable space mechanism has paid widely attention to for scientific researchers in various fields.The star-shaped tensegrity structure is a new type of deployable structure.Compared to traditional deployable structure,it has advantages of simple structure,stronger expandability,higher storage ratio,lighter quality and higher reliability.It gives full play to the characteristics of starshaped tensegrity structure and widely adaptability of deployable structure in the special field.In this paper,the star-shaped tensegrity structure is taken as the research object,the main contents of the research include the analysis of component parameters of the star-shaped tensegrity structure,the analysis of structural deformation,process parametric analysis,the analysis of the stiffness of the structure,the static analysis of the structure and physical experiments of prototype.The specific contents are as follows:Firstly,based on the mathematical model of traditional prismatic tensegrity structure,the mathematical model of the star-shaped tensegrity structure is constructed.the theoretical driving of the star-shaped tensegrity structure is analyzed and compared.The central component driven is chosen as the star-shaped tensegrity structure driving mode in the paper.The range of the length of the driving central component in process of radial shrink is obtained by theoretical derivation.The simulation model of the star-shaped tensegrity structure is established in the ADAMS software.The ultimate state of deployable star-shaped tensegrity structure is proved when the length of the center component change.The range of the length of the central component is verified.Secondly,The relationship between the length of each component and its parameters is analyzed.The relationship between the force of bars and cable components in the structure under static equilibrium,and the relationship between the force density of the bar and cable components are analyzed too.In this way,the relationship between diameter of the bar and the force of the bar in the steady state of the structure can be obtained.Finally,the influence of the changing length of central component on the basic parameters is researched.It is obtained that the change of rule of basic parameters in the folding process.Thirdly,according to the mechanical characteristics of the star-shaped tensegrity structure,the stiffness matrix of the single bar is obtained.The stiffness matrix of the whole structure is obtained by topology theory.The fluence of the different preloads and the different spring’s stiffness of the oblique cable on the stiffness of the structure is analyzed in the MATLAB software.Finally,the static analysis of the structure is analyzed in the ABAQUS software.The change rule of stiffness of the structure in folding process is obtained.Selected the optimal stiffness state in the process of structure folding,the relationship between the displacement and the joint force of the mode the structure is obtained.Fourthly,according to the folding mode,the appropriate devices are selected.The control system and the drive system of prototype are designed.The experimental tests mainly include the principle prototype which can realize wireless remote control is developed.The folding test is carried out on the prototype,to verify the feasibility of deployable star-shaped tensegrity structure.The internal force relationship of each component in the folding process of the prototype is verified.The static stiffness test is carried out on the prototype model.The verification of the principle prototype is completed by the above test. |
