正方形可展机构的运动学与动力学特性研究

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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： （i）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。