空间杆系机构运动路径的多重分岔分析-工程力学.pdf

30 卷 7 期 Vol.30 No.7 工 程 力 学 2013 年 7 月 July 20 13 ENGINEERING MECHANICS 129 文章编号：1000-4750(2013)07-0129-07 空间杆系机构运动路径的多重分岔分析 祖义祯，邓 华 (浙江大学空间结构研究中心，杭州 310058) 摘 要：运动分岔是杆系机构平衡路径分析的重要理论问题。基于按有限元法建立的杆系机构运动方程， 运动 路径奇异点的多重分岔特征进行了讨论。 空间杆系机构的分岔条件进行了理论解释。面向多重分岔问题对常规 的奇异点定位方法进行了改进。将与切线刚度矩阵特征向量相关的干扰力向量引入到弧长法中，以实现多重分岔 路径的跟踪。以一个由Pantadome 系统简化的空间杆系机构为例，对其顶升过程的运动路径进行了数值模拟，利 用该文方法有效地实现了顶升过程的奇异点判别及多重分岔路径的跟踪。 关键词：杆系机构；运动路径；弧长法；奇异点；多重分岔 中图分类号：TU323; TU3 11.2 文献标志码：A doi: 10.6052/j.issn.1000-4750.2012.03.0161 ANALYSIS ON THE MULTIPLE BIFURCATION IN THE KINEMATIC PATH OF SPATIAL PIN-BAR MECHANISMS ZU Yi-zhen , DENG Hua (Space Structures Research Center, Zhejiang University, Hangzhou 310058, China) Abstract: Kinematic bifurcation is an important theoretical problem for the kinematic analysis of pin-bar mechanisms. Based on FEM, the basic kinematic equation of pin-bar linkages was established, and the multiple bifurcation characteristics of the kinematic path were discussed. The bifurcation condition of the kinematic path was explicated theoretically. The conventional method for pinpointing singular point was improved to adapt to the multiple bifurcation problem. A disturbing force vector, which depends on the eigenvectors of tangential stiffness matrix, was introduced into the arc-length method to trace the multiple bifurcation paths. A simplified spatial pin-bar Pantadome linkage was employed as an illustrative example. The lifting process of the linkage was numerically simulated. Using the proposed method, the singular points in the kinematic path are effectively identified, and multiple bifurcation paths are also traced. Ke