Cylindrical retractable mechanism based on double-actuator symmetrical distributed driving and control method

The invention discloses a cylindrical retractable mechanism based on double-actuator symmetrical distribution type driving, which comprises a large shell, a small shell, a plurality of rod group units and a central cylinder transmission device, and two groups of linear driving units which are symmetrically distributed are mounted in the central cylinder transmission device and are used for respectively controlling the large shell and the small shell to be unfolded and folded. When the cylindrical mechanism is unfolded, the center cylinder transmission device drives the rod set units to be unfolded, and the large shell pieces and the small shell pieces are alternately distributed and jointly surround to form a first cylindrical outer wall. And when the cylindrical mechanism shrinks, the central cylinder transmission device drives the rod group unit to contract, the large shell pieces jointly surround to form a second cylindrical outer wall, and the small shell pieces are stored and placed in the second cylindr