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针对航天发射时运载工具性能需求和有效载荷舱空间有限的矛盾,提出一种径向可伸缩式车轮机构。在分析径向可伸缩式车轮机构组成原理的基础上,对车轮机构进行拓扑综合分析,即车轮构型分解与综合。以车轮机构的轮缘环链为单元构型,进行拓扑变换分析,分类讨论轮缘环链外接副的三种型式。通过构态分析确定径向可伸缩式车轮终态的运动情况,验证所设计车轮构型的正确性,为该机构在航天领域的实际应用提供理论条件。
Aiming at the contradiction between the performance requirement of the launch vehicle and the limited payload space of the space launch vehicle, a radial retractable wheel mechanism is proposed. On the basis of analyzing the composition principle of radial retractable wheel mechanism, the topological synthesis analysis of wheel mechanism is carried out, that is to say, the wheel configuration is decomposed and integrated. Taking the wheel rim chain of the wheel mechanism as the unit configuration, the topological transformation analysis is carried out, and the three types of outer ring pairs of the wheel rim chain are discussed in detail. Through the analysis of the configuration, the movement of the final telescopic wheel can be confirmed and the correctness of the designed wheel configuration can be verified, which provides the theoretical conditions for the practical application of this mechanism in aerospace field.