中文摘要：

为揭示任意个球面剪叉单元构成的球面可展机构的运动特性,研究这类机构的自由度特性和运动分析方法。基于螺旋理论分析球面剪叉单元及其串联运动链、多支链构成的球面可展机构的自由度特性,得出由球面剪叉单元构成的球面剪叉可展机构的自由度特性,据此构造出任意个球面剪叉单元和任意个支链构成的自由度为1的球面可展机构。基于球面几何理论,对两个球面剪叉单元串联的球面可展机构进行运动分析,并对任意m个球面剪叉单元串联的球面可展机构进行运动分析,在此基础上分析n个支链的球面剪叉可展机构的运动特性。建立球面剪叉可展机构这类机构通用的运动分析方法,并给出运动分析的数字实例,证明了该方法的有效性。编制能满足任意个球面剪叉单元构成的球面可展机构的运动分析软件,实现了对这类机构运动的自动分析计算,具有工程应用的实际意义。

英文摘要：

In order to reveal kinematic characteristics of spherical deployable mechanisms composed of any number of spherical scissors elements, the degree-of-freedom characteristics and method of kinematics analysis for such mechanisms are studied. Based on screw theory, degree-of-freedom characteristics of spherical scissors deployable mechanisms are analyzed, which are a spherical scissors element, its serial kinematic chain and multiple branch chains. On the basis of analysis results, the degree-of-freedom characteristics of spherical scissors deployable mechanisms which consist of spherical scissors elements are obtained. According to this, the 1-DOF mechanisms with any number of spherical scissors elements and branch chains are constructed. Based on spherical geometry, kinematics analysis of the spherical scissors deployable mechanism with two serial spherical scissors elements is given, so does the spherical scissors deployable mechanism with any number of m serial spherical scissors elements. On this basis, kinematic characteristics of spherical scissors deployable mechanisms with n branch chains are analyzed. To this kind of mechanism, the universal method of kinematics analysis is presented, and the numerical examples are given to prove the validity of the method. The software of kinematics analysis of spherical deployable mechanisms which consist of any number of spherical scissors elements is developed, which achieves automatic kinematics analysis and calculation for such mechanisms. It has the important application value and the practical significance in engineering fields.