Network and vector forms of tensegrity system dynamics
Network and vector forms of tensegrity system dynamics
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DOI：
10.1016/j.mechrescom.2014.03.007
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发表时间：
2014-07
影响因子：
2.4
通讯作者：
K. Nagase;R. Skelton
中科院分区：
文献类型：
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作者：
K. Nagase;R. Skelton
对于任何一类张量完整系统动力学，我们都将运动方程写成矢量形式。网络方法产生连通性矩阵和节点矩阵，提供任何杆、管道和缆索网络的动力学。1类(钢筋不连接)动力学与添加的约束一起描述，以允许杆件到杆件连接。可以在统一的框架内处理阻尼力和重力以及底座移动。消除约束力以产生一组紧凑的矢量方程。
We write the equations of motion in vector form for any classktensegrity system dynamics. The network approach yields a connectivity matrix and nodal matrix, providing the dynamics of any network of bars, pipes and cables. The class 1 (bars do not connect) dynamics are described together with a constraint added to allow bar to bar connections. Damping and gravity forces as well as base movement can be handled in a unified framework. The constraint force is eliminated to yield a compact set of vector equations.