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采用广义逆矩阵方法分析空间可展桥梁的运动过程.以笛卡尔坐标系下节点的自然坐标为未知量,建立空间可展桥梁展开过程的动力学基本方程,将刚性杆长、套筒、边界约束、锁定条件、4节点等长剪刀撑、4节点刚性板的约束方程嵌入动力学方程,导出一组不含乘子且方程数等于结构自由度数的动力学方程.通过数值仿真,得出空间可展桥梁在展开过程中的各个状态及动力学参数.进行了缩比模型的研制,在电机驱动下能得到较好的控制并平稳展开,验证了该空间可展桥梁的合理性,也为空间可展桥梁的进一步研究提供了参考.
The generalized inverse matrix method is used to analyze the motion process of space-spanable bridge.The dynamic equations of space-spanible bridge spanning process are established by taking the natural coordinates of nodes in Cartesian coordinates as unknown quantities, and the rigid rod length, sleeve, boundary Constraints, locking conditions, 4-node isometric scissors bracing, 4-node rigid plate constraint equations are embedded in dynamic equations, and a set of kinetic equations without multipliers and with the number of structural degrees of freedom is derived. By numerical simulation, space The development of the bridge can be in the process of the various states and kinetic parameters of the contraction ratio of the model developed under the control of the motor can be better controlled and smoothly expanded to verify the feasibility of the space can be bridge is also The research of space extendable bridge provides reference.