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DOI:10.3901/CJME.2014.0519.098基于螺旋理论剪式单元可展结构的运动学和动力学孙远涛1王三民1 JAMES K Mills 2智常建1(1.西北工业大学机电学院西安710072;2.多伦多大学MIE多伦多M5S 3G8加拿大)摘要:可展结构是复杂的多环结构,推导得到其相对简单的动力学方程是研究的方向。基于螺旋理论和虚功原理,对剪式单元可展结构的运动学和动力学进行研究。根据所研究的可展结构的几何特征可知,其基本结构单元是公用的剪式单元。首先,定义一个由三个剪式单元组成的空间可展结构,并得到其约束拓扑几何图。然后,
DOI: 10.3901 / CJME.2014.0519.098 Kinematics and Dynamics of Spreadable Units Based on Spiral Theory SHEN Yuan-Tao 1 WANG San-Min 1 JAMES K Mills 2 CHI Chang-Jian 1 (1.School of Mechanical and Electrical Engineering, Northwestern Polytechnical University, Xi'an 710072; University of Toronto M5 Toronto, M5S 3G8, Canada) Abstract: The developable structure is a complex multi-ring structure. Deriving its relatively simple dynamic equations is the research direction. Based on the theory of helix and the principle of virtual work, the kinematics and dynamics of the scalable structure of scissor elements are studied. According to the geometric characteristics of the developable structures studied, the basic structural unit is a common scissor unit. First, we define a spatially -structurable structure consisting of three scissor elements and derive their constrained topological geometry. then,