剪式机构线性阵列可展结构的动力学特性研究

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Based on the Cartesian frame, the paper established a dynamics model of the linear array deployable structures based on scissor--like element. The motion constraint equations can be estab- lished by constraints＇ conditions such as kinematic pairs. Using Runge--Kutta method for numerical calculation,the laws of the structure,such as velocity and acceleration,can be obtained in motion,and kinematic curve is also able to be drawn,and then it provides the foundation of this structure of the ap- plication. The results show that the linear array SLE in an process does not have consistent level speed.基于笛卡儿坐标系建立了剪式机构线性阵列组成的可展结构动力学模型，利用运动副等约束条件建立了剪式可展结构的运动约束方程。采用Runge―Kutta法进行数值计算，获得了该种机构式结构运动过程中的速度和加速度等规律，绘制了阵列组合机构的运动曲线，为该种结构的应用奠定了基础。结果表明，剪式机构线性阵列在展开过程中具有不一致的水平速度。