正方形可展机构的运动学与动力学特性研究

摘要

The developable structure arrayed by mechanism unit has a broad application prospect in aerospace , avi-ation , construction and other fields .And the kinematics and dynamics analyses for this kind of structure are becom-ing an important research subject in the field of mechanical engineering .We presented a new type developable mechanism , designed its configuration , made displacement of the articulated point to be the cartesian coordinate , established developable structure movement constraint equation based on the characteristics , and then got the speed and acceleration of the basic points .And based on the Lagrange equation , we established developable structure dy-namics analysis and processed the developable structure dynamics analysis .Section 4 of the full paper gives a nu-merical example;the calculated results and their analysis show preliminarily that:(1)the area contraction ratio of this specific developable structure is 2.43;(2)in the unfolding process , this specific structure unfolds gently , the impact is small , and there is no clamping stagnation .%由单元机构阵列组合而成的可展结构在航天、航空、建筑等领域具有广阔的应用前景，对其进行运动学和动力学分析成为目前机械工程领域的一个研究。将正方形机构进行平面阵列组合形成了一种新型可展机构，对其进行了构型设计并以可展机构的铰接点位移为笛卡尔坐标，依据组成特点建立了可展结构的运动约束方程，进而获得基本点的速度和加速度。基于拉格朗日方程建立了可展结构的动力学分析模型，进行了可展结构的动力学分析。通过算例得出：①这种可展结构的面积收缩比为2．43；②这种结构在展开过程中，运动平缓，冲击小，无卡滞现象。