Method for confirming motion singular configuration of hinge bar system mechanism

A technology of mechanism motion and articulated rods, which is applied in the field of solving odd and heterogeneous motions, can solve problems such as structural system instability and large additional loads, and achieves broad application prospects, major propulsion, and strong operability.

Inactive Publication Date: 2014-09-03
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When the mechanism moves according to the non-design path, due to the contradiction between the control and the actual movement, a large additional load will be generated in the system, which will lead to the instability of the entire structural system and cause serious consequences.

Method used

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  • Method for confirming motion singular configuration of hinge bar system mechanism
  • Method for confirming motion singular configuration of hinge bar system mechanism
  • Method for confirming motion singular configuration of hinge bar system mechanism

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Embodiment Construction

[0027] by figure 1 Take the one-plane hinged two-degree-of-freedom five-bar system as an example, select the AB and DE rods as the driving rods, then the nodes B and D are the driving nodes, and the C node is the driven node. Corresponding to θ 1 and θ 4 is the control variable, θ 2 and θ 3 State variables, where θ 1 and θ 2 Counterclockwise is positive, θ 3 and θ 4 Clockwise is positive.

[0028] According to the coordinates of node C in the closed loop, the independent coordination equation of the movement of this mechanism can be established as follows:

[0029] f 1 = l 1 cosθ 1 +l 2 cosθ 2 +l 3 cosθ 3 +l 4 cosθ 4 -l 5 =0(4)

[0030] f 2 = l 1 sinθ 1 +l 2 sinθ 2 -l 3 sinθ 3 -l 4 sinθ 4 =0

[0031] Among them, l 1 , l 2 , l 3 , l 4 , l 5 Respectively represent the rod lengths of AB, BC, CD, DE, and AE.

[0032] Put equation group (4) respectively on the control variable θ 1 , θ 4 Derivation can be obtained:

[0033] ...

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Abstract

The invention discloses a method for confirming the motion singular configuration of a hinge bar system mechanism. The method takes the derivative of the state variable relative to the control variable, as the similar stiffness, the first-order partial derivative is carried out on the independent control variable by the compatibility equations which are independent from the motion of the mechanism respectively, so that a similar stiffness expression mode can be obtained in a solving way, and the similar stiffness expression mode equal to zero, infinity and 0 / 0 type is taken as the similar stiffness equation, so that all the motion singular configuration of the mechanism can be obtained according to the similar stiffness equation and the compatibility equation of a simultaneous solving mechanism. The method can search all the motion singular configurations of the mechanism, is high in operability, provides the design basis for the novel space structure, and has the important impelling effect on the research of the singularity of the mechanism.

Description

technical field [0001] The invention relates to a solution method for a novel spatial structure-a mechanism's singular configuration of motion, and belongs to the technical field of engineering analysis and design of a novel spatial structure. Background technique [0002] With the continuous development of structural forms, many movable systems have emerged in modern structures, such as tensegrity structures, cable domes, climbing domes, and deployable structures. These new systems have variable initial shapes, and the construction molding process is accompanied by geometric displacements that are different from elastic displacements, so they are often associated with mechanisms. The study found that there are strange phenomena in the movement of the mechanism. In the singular configuration, the mechanism may have a motion "dead point", or it may move according to an undesigned motion path and lose controllability. When the mechanism moves according to the non-design path,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16H21/10
Inventor 袁行飞周练
Owner ZHEJIANG UNIV
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