航天用的空间展开机构要求其关节驱动系统具有较高的可靠性,采用冗余驱动是提高可靠性的有效措施.提出了二套驱动系统并联的单备份冗余驱动方案,设计了适于该冗余驱动方案的差动轮系式传动机构;为了减少切换传动机构的体积和质量,提高其运动平稳性,以体积最小和转动惯量最小为目标函数,建立了轮系参数的多目标优化模型,并利用线性加权和法对优化模型进行了简化处理,借助Matlab优化工具箱进行了实例优化计算,计算结果验证了优化模型和计算方法的有效性.%It is known that joints of deployable mechanisms used in aerospace needs to be of high reliability, while redundant drive is an effective measurer or increasing reliability. Therefore,the scheme with two sets of parallel connected drive systems in which one is used to be a backup system is proposed,meanwhile the differential gear train transmission mechanism for the scheme is designec.ln order to reduce the mass and size of transmission mechanism and achieve robust motion,the multi-object optimization model with minimum mass and minimum rotational inertia as target function for gear train mechanism is established,and then linear weighted sum method is adopted to simplify the mode.The effectiveness of the optimization model and computational method is verified by an optimization example with the help of Matlab optimization toolbox.
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