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运动分岔是杆系机构平衡路径分析的重要理论问题。基于按有限元法建立的杆系机构运动方程,对运动路径奇异点的多重分岔特征进行了讨论。对空间杆系机构的分岔条件进行了理论解释。面向多重分岔问题对常规的奇异点定位方法进行了改进。将与切线刚度矩阵特征向量相关的干扰力向量引入到弧长法中,以实现多重分岔路径的跟踪。以一个由Pantadome系统简化的空间杆系机构为例,对其顶升过程的运动路径进行了数值模拟,利用该文方法有效地实现了顶升过程的奇异点判别及多重分岔路径的跟踪。
Kinematic bifurcation is an important theoretical issue in the analysis of equilibrium path of bar linkage. Based on the finite element method to establish the rod body motion equations, the singular points of the motion path of the multi-bifurcation characteristics are discussed. The bifurcation conditions of space bar linkage mechanism are explained theoretically. The conventional singular point location method is improved for the problem of multiple bifurcation. The disturbance vector associated with the tangent stiffness matrix eigenvector is introduced into the arc length method to realize the tracking of multiple bifurcation paths. Taking a simplified system of space bar system by Pantadome as an example, the movement path of the ascending process is numerically simulated. By using this method, the singularity of jacking process and the tracking of multiple bifurcation paths are effectively realized.