剪式可展机构非线性动力学分析子系统方法

A subsystem method for nonlinear dynamic analysis of a deployable scissor-like mechanism

针对剪式可展机构由相互耦合的闭环子系统构成的多体系统,给出基于子系统模型的非线性动力学建模方法。将剪式可展机构分解为多个简单子系统,推导出子系统等效质量矩阵和等效力向量,通过子系统间反向递推求解整个多体系统等效质量矩阵及等效力向量,将复杂运动方程简单化,缩减求解规模。该子系统模型可重复使用,且当子系统的结构或子系统个数发生变化时,便于整个剪式可展机构模型修改,易于程式化建模。与传统方法对比验证该方法的正确性。

A deployable scissor-like mechanism consists of intercoupled closed-loop subsystems. A nonlinear dynamic modeling method for a complex muhibody system with such topological structure was put forward based on subsystem modeling. The equivalent inertia matrices and force vectors of subsystems were derived after the deployable scissor-like mechanism was divided into several simple subsystems. The equivalent inertia matrix and force vector of the overall system could be deduced with backward recurring subsystem by subsystem. Based on this, a large-scale equation of motion was inverted into simple equations and the complexity of its solution was reduced. The subsystem model could be used repeatedly and the overall model of the deployable scissor-like mechanism could be updated or the number of subsystems was modified. The modeling process could be realized easily with a The comparison with traditional methods validated the proposed method. easily when the structure computer programming.