本文以笛卡尔坐标系下节点自然坐标为未知量 ,建立了桁架结构系的基本运动力学方程 ,并首次推导出桁架结构中常用节点附加几何约束方程 ,相应约束 Jacobi矩阵及其导数矩阵 ,采用奇异值分解法求约束 Jacobi矩阵的零空间基和 M- P广义逆 ,并由矩阵缩减法建立了带约束桁架体系的运动力学方程和求解方法。数值算例表明该方法适于可展折叠桁架结构运动力学分析。 In this paper, the basic equations of motion of truss structure are established based on the natural coordinates of nodes in Cartesian coordinates, and the additional constrained Jacobi matrix and its derivative matrix are derived for the first time. The singularities The value decomposition method is used to find the null space basis and the M-P generalized inverse of the constrained Jacobi matrix. The kinematic equations and the solution method of the constrained truss system are established by the matrix reduction method. Numerical examples show that the method is suitable for the analysis of the kinematics of the expandable truss structure.