空间两弹簧系统的力逆解

Inverse Force Analysis of a Spatial TwoSpring System

讨论了空间两弹簧系统的力逆解问题。空间两弹簧系统是由两根弹簧并行地将空间一点（即两根弹簧的公共球铰中心）与固定平台相联而成，这两根弹簧分别通过转动副和球副与固定平台相联。其力逆解即对于给定的公共球铰中心所作用外力，求解该系统处于静力平衡时的所有构形。文中建立了该系统的力逆解方程组，并用连续法对其进行了求解。算例表明该空间两弹簧系统的力逆解最多具有１０组解。

The candidate spring system is composed of a moving point(i.e. the common pivot of the two springs) and a fixed platfrom connected to each other by two inparallel springs. The two springs are connected with the fixed platform by a revolute joint and spherical joint respectively. To perform the inverse force analysis of the spring system is to find all the equilibrium configurations of the system for a given payload acting on the common pivot. The set of equations for inverse force analysis of the spring system is derived at first and then solved by using continuation. All the sets of solutions to the inverse force analysis problem can be found. It has been found that for a specified payload, the maximum number of equilibrium configurations of the spatial twospring system might be 10.