非对称平面剪铰结构展开过程分析与仿真
纪斌，王怀磊，金栋平
摘要:该文研究由刚性杆组成的单自由度非对称平面剪铰桁架结构的运动学及动力学特性。首先,利用剪铰结构的几何特性推导各个剪铰单元的运动规律,得到了单自由度剪铰结构各杆件的广义坐标表达式。然后建立系统的质量矩阵和约束方程,并利用拉格朗日乘子法建立其动力学模型。采用Baumgarte坐标违约和速度违约稳定法进行数值求解。最后利用MATLAB软件包对由两个非对称剪铰单元组成的可展桁架结构的展开过程进行了数值仿真,并对仿真结果进行了相应的分析。该文的工作为非对称剪铰桁架结构的工程应用提供了理论基础。
关键词：非对称剪铰结构；展开过程；运动学；动力学；约束方程
Analysis and simulation of the deployment process for asymmetric planar scissor structures
Bin Ji, Huailei Wang, Dongping Jin
Abstract：This paper studies the kinematics and the dynamics of the asymmetric scissor structure composed of rigid rods and with one degree of freedom. First, the kinematical formulas for determining the position of all the rods of the scissor structure are derived in terms of its generalized coordinate. Then the mass matrix and the constraint equations are formulated and the dynamical equation is built by applying the Lagrange equation of the first kind. The Baumgarte stabilization of default of coordinate and velocity is used to solve the numerical solution. Finally the numerical simulation of the dynamical deployment process is presented for a deployable truss structure consisting of two scissor units. Some conclusions are drawn from the results of numerical simulation. This study provides a theoretical foundation for the engineering application of the asymmetric scissor truss structures.
Keyword：asymmetric scissor structure; deployment process; kinematics; dynamics constraint equation
原文链接：http://gclx.tsinghua.edu.cn/CN/Y2013/V30/I7/7
