不规则三杆张拉整体结构的找形  

Form-finding of irregular three-bar tensegrity structures

作　　者：刘贺平[1] 黄文杰 宋健 赖潇亮 罗阿妮 LIU Heping;HUANG Wenjie;SONG Jian;LAI Xiaoliang;LUO Ani(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2023年第2期276-283,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51835002,51875111);黑龙江省自然科学基金项目(LH2020E062)。

摘　　要：为了获得不规则形态的张拉整体结构,本文提出了一种确定稳定构型的思路,即基于规则张拉整体结构在大部分构件长度不变的条件下,在一定范围内改变其个别构件长度,稳定状态时这些构件的长度最小。通过规则张拉整体结构单元稳定条件分析、非规则三杆张拉整体结构的稳定构型分析、求解思路分析几个方面的研究,获得了具体的构型方法,并通过具体数值求解、仿真分析和搭建实物模型等手段对此方法的正确性进行了验证,证明此方法求得的结构稳态数值的精度较高。为张拉整体结构基于构件变化的找形及机构化分析提供了一种思路。To get a tensegrity structure with irregular form,we propose a new idea to determine the stable configuration.It is based on a regular tensegrity structure,under the condition that most of the members’length is unchanged,with the length of few members changing in a certain range and the length of these members minimized in the stable state.By analyses of stability conditions of regular tensegrity structure elements,stable configuration of irregular three-bar tensegrity structure,and solution ideas,a specific configuration method is obtained,and the correctness of the method is verified by numerical solution,simulation analysis and building a real model.It is proved that the steady-state value obtained by this method has higher precision,providing a new idea for shape finding and mechanism analysis of tensegrity structures based on component changes.

关 键 词：张拉整体结构 线性迭代法 找形 节点矩阵 连接矩阵 平衡矩阵 稳定性 奇异值分解 

分 类 号：TH113[机械工程—机械设计及理论]