中文摘要：

空间多面体向心机构是一类特殊空间可展机构,这类机构一般成球形或多面体形状,具有高度的对称性,通过铰链关节运动可以实现多面体机构的展开/收拢运动。本文在其结构和运动特点分析的基础上,进一步提出一种新型六面体机构。该机构由4个4腿运动链和一个十字滑块机构组成。利用螺旋理论对这种机构作自由度和奇异性分析。将这种机构运用于伸展臂的设计中,提出一种新型同步展开/收拢伸展臂机构,该机构的自由度是1。对这种伸展臂机构的运动学和动力学进行研究,推导出了其运动学和动力学方程,这有助于此伸展臂的分析设计,最后将理论计算结果与ADAMS计算结果进行比较,验证了运动学和动力学方程的正确性。本文的研究成果在航天领域有较好的应用前景。

英文摘要：

Spatial polyhedral linkages mechanism along radial axes is one of special kinds of deployable and foldable mechanism.The shape of this kind of mechanism is usually sphere or polyhedron and highly symmetrical.It can be deployed or folded through the joints rotating.Based on the structural and movement characteristics of this kind of radial mechanism,a new hexahedron mechanism is proposed.This mechanism is assembled by 4 four-legged platforms and 1 cross slider.Its mobility and singularity are analyzed on the basis of screw theory.By using this novel hexahedron mechanism,a new synchronously deployable mast is developed,whose mobility is single.The kinematics and dynamics are studied and their equations are derived.It is helpful for the analysis and design of this mast.At last,the correctness of the equations are verified by comparison between the results of derived equations and ADAMS simulation.This kind of mast has good prospects of application in space field.