DESIGN OF WAVE-SHAPED SPACE TRUSS CONSIDERING THE EFFECT OF SUBSTRUCTURE

The wave-shaped space truss is used as the roof of the natatorium in Tianjin University,which ingeniously displays the function of the building.In this paper,the wave-shaped space truss is analyzed and designed,considering the substructure made of reinforced concrete rigid frame and the space truss working together.Also,the anti-seismic characteristic of the wave-shaped space truss is studied based on the integral model.

A simple analytical solution for predicting deflection of a hybrid FRP-aluminum modular space truss bridge

A novel hybrid FRP-aluminum space truss was employed in a two-rut modular bridge superstructure, which is composed of standard structural units. The main objective of this work was to obtain a simple analytical solution that can conveniently predict the deflection of the proposed hybrid space truss bridge. The analytical formulae are expected to possess a straightforward format and simple calculation process. A simple description of the proposed bridge was introduced. The design formulae of the deflection were derived based on a simplified analytical plane truss model, which possessed hinge nodes and was subsequently simplified as two solid web beams during the theoretical derivation process. To validate the analytical model and formulae, numerical and experimental works were conducted and compared with the theoretical solutions. The results indicate that the analytical formulae provide higher deflection magnitudes with a difference of <1.5% compared with the experiments performed and <4.5% compared with the FE model used; the simplified plane truss is thus shown to be an effective analytical model for the derivation of deflection design formulae, which can conveniently calculate the deflection of the hybrid space truss bridge with satisfactory accuracy.

Sequence Planning for On-Orbit Assembly of Large Space Truss Structures in a Multirobot Environment

An approach to sequence planning for on-orbit assembly of large space truss structures in a multirobot environment is presented. A hierarchical representation of large space truss structures at the structural volume element level and strut level is adopted. The representation of connectivity matrix and directed graph is respectively presented at the strut level and SVE level. The multirobot environment that consists of autonomous space robots and struts is supposed. Then the multirobot serial assembly strategy,assembly states,assembly tasks and assembly sequences are described. The assembly sequence planning algorithms at the strut level and SVE level are respectively discussed. The results of the simulations show that this approach is feasible and efficient. Two extensions of this approach include more accurate assessment of the efficiency representation and improvements in planning algorithm. In the future,the assembly sequence planning of more large space truss structures and complex multirobot environments and assembly tasks will be considered.

A Method for the Configuration Design of a Space Truss Deployable Mechanism and Its Application

A method based on the metamorphic principle is proposed for the analysis of the configuration design of a space truss deployable mechanism. The configuration change and correspondent topological graphs and adjacency matrixes at different work-stage of the mechanism, which is helpful to completely understand the composition and change rules of the metamorphic mechanism, are analyzed to indicate the metamorphic relationship in one working cycle. Furthermore, the static distance matrix, dynamic distance matrix and stiffness matrix of the mechanism are derived to assess the ability of the designed configuration to reveal some of the topological characteristics like compactness, dynamic sensitivity and stiffness. Using this proposed method in a space truss deployable mechanism helps the designer to evaluate its performance at the conceptual stage of design and make a rapid, reasonable selection for configuration design, which provides means for processing its type of analysis by computer.

Quasi-static Deployment Simulation for Deployable Space Truss Structures

A new method was proposed for quasi-static deployment analysis of deployable space truss structures. The structure is assumed a rigid assembly, whose constraints are classified as three categories:rigid member constraint, joint-attached kinematic constraint and boundary constraint. And their geometric constraint equations and derivative matrices are formulated. The basis of the null space and M-P inverse of the geometric constraint matrix are employed to determine the solution for quasi-static deployment analysis. The influence introduced by higher terms of constraints is evaluated subsequently. The numerical tests show that the new method is efficient.

Numerical and Experimental Study of Steel Space Truss with Stamped Connection

Tubular section members made of steel are common in space trusses. There are several types of connections to attach these members. The most popular is the staking end-flattened connection. The reduced cost and the fast assemblage of the truss are among the advantages of the staking end-flattened connection on 3D trusses. However, such connections present disadvantages like eccentricities and stiffness weakening of the tubular members. In this work, based on computer simulations and experimental lab tests on prototypes, small changes on the staking end-flattened connections such as reinforcement and eccentricity correction are evaluated. The results show an increase of 68% for local collapse and 17% for global collapse in the truss load carrying capacity when the suggested changes proposed in this article are used for the staking end-flattened connections.

环形桁架式空间薄膜展开机构运动精度可靠性建模与分析

空间薄膜展开机构的姿态和位置精度会对薄膜索网的工作形态产生影响。文章首先构建环形桁架式空间薄膜展开机构运动精度可靠性理论模型,然后基于ADAMS建立考虑展开机构杆长误差的参数化仿真模型,并采用蒙特卡罗法对展开机构进行运动精度可靠性仿真分析,求解运动精度可靠度。结果表明,以机构展开到位时折展杆支撑点所拟合的空间圆心坐标位置误差及半径误差作为其运动精度可靠性量化评价指标是正确的。该研究可为空间薄膜展开机构的可靠性设计提供参考。

大口径空间光学望远镜桁架结构关键技术研究进展

近年来大口径空间光学望远镜以高像质、宽波段、大幅宽等特点,在开展空间科学探索、精细化对地观测等方面越来越重要。大口径望远镜的主承力结构、大型光学组件的支撑结构往往采用桁架结构,本文围绕实现桁架结构的超轻、超稳特性,从构型优化设计、新型材料、先进制造工艺、精确测量标定方法等方面,系统性梳理了其理论基础、研究方法、应用现状等,并探讨了空间桁架结构技术的发展趋势。

Space truss construction modeling based on on-orbit assembly motion feature

More space truss construction has been planned to develop and utilize space resources.These trusses are designed in the way of large-scale,complex,modular,and on-orbit assembly.To meet the upcoming challenge of large-scale space infrastructure construction,it is necessary to study space truss automation design and robotic construction.This paper proposes an ordinal finite screw adjacency matrix model(OFSAMM),focusing on the relationship between assembly motions,to express and compute a space truss structure.In this model,a space truss is abstracted as a set of ordered assembly motions,each of which is recorded as a finite screw as the basic element of the truss and its assembly.The operation of truss transformation is also derived under this model.Therefore,the truss configuration,the assembly sequence,the truss sub-assembly,the truss components,and the on-orbit assembly task can be expressed and calculated in a unified model,which is calculated and stores the truss topology and assembly with the minimum storage cost.At the end of this paper,we introduce how to synthesize and optimize space truss design through two cases.The study will help to improve design efficiency.Furthermore,it provides a theoretical basis for the automatic construction of space truss structures,especially in the next stage.

大跨扶梯钢桁架结构现场加载试验与分析

某商场自动扶梯大跨度钢桁架结构需要检测其在正常使用极限状态下的挠度与应力,该钢桁架水平跨度47.9 m,仅在两端设有支座,整体悬空且最高处离地面35 m。现场难以采用直接堆载方式加载,故提出一种空间加载系统。在桁架节点处悬挂精轧螺纹钢筋,以地下室楼板作为反力装置,利用千斤顶完成加载。首先对加载系统进行承载力、整体稳定及局部稳定验算,采用SAP2000有限元软件对地下室梁板结构进行验算,发现竖向拉力会导致原结构梁板开裂,因此选择在板上堆载的方式以减少拉力对原结构的影响。现场试验结果表明,该加载系统对原地下室梁板结构未造成损害,钢桁架实测挠度和应力情况与原结构设计计算相符。

面向在轨组装服务的空间机器人动力学分析及抑振阻抗控制设计

研究了空间机器人在轨组装空间桁架操作的抑振阻抗控制问题.首先,利用Lagrange方法建立了载体姿态受控形式的空间机器人系统动力学模型;通过对系统进行动力学分析,推导了相应的机械臂末端和桁架插头在基连坐标系下的运动雅可比关系;结合阻抗控制原理,根据插头位姿与其输出力之间的动态关系建立了二阶线性阻抗模型.然后,设计了标称PD(Proportional Derivative)的控制器,并引入滑模变结构控制器来实现对建模不确定项的精确补偿,以提高力/位的控制精度.考虑滑模控制器固有的抖振,结合模糊控制原理,采用将滑模面作为输入,补偿控制增益作为输出的控制方案来提高抑振效果.该控制策略不依赖滑模面微分信号,计算量少,鲁棒性强,且无需复杂的模糊专家规则库.通过Lyapunov原理证明系统是一致渐进稳定的.基于Matlab仿真结果分析,验证了所提控制策略的有效性和抑振性能.

空间机器人在轨桁架组装操作基于自适应模糊CNF的阻抗控制

空间桁架作为空间站一类重要基础设施,在空间站建设中起着不可替代的作用。考虑到组装好的空间桁架所占空间以及火箭的运载能力,一般采用将桁架部件发射入太空并在轨道完成组装。为实现空间桁架的组装、维护等太空任务,对空间机器人在轨插、拔孔操作的力/位姿阻抗控制进行了研究。建立了载体姿态受控形式的空间机器人系统动力学模型;通过桁架部件插头的运动学约束,建立了插头在基连坐标系下的运动学关系。基于阻抗控制原理,根据插头位姿与其输出力之间的动态关系建立了二阶线性阻抗模型,以实现在轨插、拔孔操作过程中输出力的精确控制。提出了一种自适应模糊组合非线性反馈(composite nonlinear feedback,CNF)控制策略,通过模糊控制器拟合系统不确定参数,作为CNF控制器的补偿输入,以降低不确定参数的影响,提高位姿的控制精度。通过Lyapunov原理证明了系统的稳定性;利用仿真分析,验证了控制策略的有效性。

某拱形空间管桁架结构稳定性能分析

大跨空间结构常因整体稳定不足而造成严重的安全隐患,针对某实际工程中拱形空间管桁架结构采用参数化分析方法进行整体稳定性能分析研究,考虑了缺陷幅值、重要杆件以及几何参数等因素对结构稳定承载力的影响。研究表明:在不利组合工况作用下,临界荷载系数为6.03,结构稳定性较好;结构对初始缺陷不敏感,其稳定系数变化不足4%;斜腹杆局部失稳下结构仍具有较强的承载能力;考虑双重非线性效应,在一定范围内增大其宽高比和外径比可以显著提高结构稳定承载能力,并给出宽高比控制在0.5~1之间、外径比控制在0.5左右的设计建议。研究结果为此类结构的设计与施工提供了参考。

新型弦支空间结构施工过程受力分析

西北大学长安校区体育馆为新型弦支空间结构,其屋盖结构部分上部由辐射状倒三角管桁架结构组成,下部由环向索及径向索组成,上部结构与下部结构之间通过竖向撑杆连接,是一种复杂的空间预应力结构体系.采用有限元软件对该结构进行了施工过程仿真分析,研究了不同施工阶段结构的应力和变形;并对拉索分级张拉产生的结构应力与变形进行了分析,研究了不同卸载方案对结构性能的影响,提出了合理的结构卸载方案.结果表明:结构安装所采用的旋转累积滑移施工成型方案是合理的,施工过程中结构应力和变形较小;结构整体刚度随施工过程不断增大,应力呈现不均匀分布.施工过程仿真分析可以为结构现场安装提供指导与预警,为同类工程建造提供技术参考.

受限空间大跨度钢结构桁架施工关键技术研究

结合实际项目,根据现场工况与经典工程案例相结合,分析了受限空间大跨度钢结构桁架施工工艺流程,并对大跨度钢结构桁架安装的施工重难点、解决措施、大跨度钢梁分段、胎架拼装、悬挑桁架安装等进行研究,综合其实际应用中的复杂性及技术难度等问题进行详细论述,通过科学有效的管理方法与方案策划,有效管控大跨度钢结构桁架施工工艺的全过程,减少现场技术问题及其他不确定性因素,以期为同类项目提供借鉴。

基于射流脉冲三通的桁架喷灌机水力性能试验

为了研究安装射流脉冲三通的桁架喷灌机与普通桁架喷灌机水力性能的差异,试验喷灌机搭载4个距地面高度1 m的Nelson D3000型折射式喷头,分别设置100、150、200 kPa 3种进口压力和3.0、3.5、4.0 m 3种喷头组合间距进行全因素组合试验。通过间距500 mm的5列9行雨量筒阵列集水,测试了安装射流脉冲三通喷灌机的定喷、行喷水量分布和安装普通三通的行喷水量分布。结果表明:定喷试验时,在100、150、200 kPa进口压力下,4 m喷头组合间距的克里斯琴森均匀系数Cu与分布均匀性系数Du均最高,分别大于90%和84%;行喷试验时,在100、150、200 kPa进口压力下,脉冲组的水深峰值比对照组分别降低了27.1%、27.9%、28.6%,克里斯琴森均匀系数Cu分别提升了17.1%、12.6%、3%,分布均匀性系数Du分别提升了24.2%、11.2%、9.5%。射流脉冲三通提供的脉冲流能够有效降低桁架喷灌机的峰值喷灌强度并提高水量分布均匀性。

大跨度双曲空间桁架钢结构地铁车站施工关键技术研究

大跨度双曲空间桁架钢结构具有造型优美宏伟、空间利用率高等特点,在重要建筑工程项目上应用较多。该类结构形式复杂,跨度大,制作及安装难度大、技术要求高。北京大剧院地铁车站采用大跨度双曲空间桁架钢结构,造型极具特色。基于此,文章以北京大剧院地铁车站工程为例,对该工程采用的“弦支穹顶结构+双向错层交叉网格屋盖+中心落地花篮柱+周圈辅助支承体系”总体设计方案及结构安装步骤展开论述,对该工程双曲空间桁架钢结构施工关键技术进行研究和总结,以期为钢结构建设创新发展奠定技术基础,为其他类似工程设计及施工提供参考和借鉴。

大跨度异形空间钢桁架安全吊装施工技术

钢桁架具有结构跨度大、异形、施工复杂且常规设备难以完成整体吊装等特点,制定合适的吊装方案是保证钢桁架结构质量和安全的关键。吊装方案的选取需要综合考虑钢桁架吊装过程中结构的应力比和变形、运输难度、高空焊接量、安全性等因素。该文以“中国传感器十大园区”——重庆市传感器特色产业基地暨西部(重庆)科学城北碚园区主出入口大跨度钢结构桁架安装为例,对比分析了各种吊装方案的优缺点。对比发现分三段吊装方案对吊装设备和场地要求低,吊装危险性较低,可实施性较好。在此基础上,结合现场施工环境和工期成本,对大跨度异形钢桁架分段吊装的整体施工流程、施工工艺、技术要点等进行了详细介绍。该工程对大跨度异形钢桁架吊装方案的尝试,为相关复杂工程的吊装方案提供了一定的借鉴。

国家金融信息大厦主楼结构设计

国家金融信息大厦主楼为两处连体的双主楼超高层结构,具有高度超限、多塔、连体、刚度突变、承载力突变等多项平面及竖向不规则超限项。介绍了结构体系、连体桁架选型与建筑特点的逻辑关系。采用有限元方法对索幕墙支承结构构件承载力和刚度进行分析。结果表明,利用3层连体桁架及中部连接体去承担索幕墙荷载的方案是可行的。利用顶层室内设备管道空间设置空间三角桁架解决屋面连接体的承载问题;将屋顶空间三角桁架与伸臂桁架相结合,在屋顶设置加强层,解决整体结构抗侧刚度不足的问题。通过对整体模型、高区分塔模型和完全分塔模型的计算结果对比,研究了连接体失效对结构抗震性能的影响,为结构承载力包络设计提供了依据。

空间管桁架结构体育馆建筑施工全过程模拟研究

文中以某体育馆钢结构工程为例,对空间管桁架结构体育馆建筑施工方案进行分析。应用有限元软件对吊装阶段和卸载阶段进行模拟分析,通过对吊装阶段成果的卸荷模拟,找到施工期间处于往复荷载作用下的支架并进行加强处理;采用分级分步的卸载策略,能够显著减少构建承受的应力集中和节点变形,有效预防结构设计过程中可能产生的过度动态响应,确保整体结构的稳定性和安全性。