Bending deformation of four-bar tensegrity element

LUO A-ni; ZOU Yun-tao; XIAO Shi-song; LIU He-ping

doi:10.37188/OPE.2021.0242

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Bending deformation of four-bar tensegrity element

Micro\/Nano Technology and Fine Mechanics | 更新时间：2026-09-12

- Bending deformation of four-bar tensegrity element
- Optics and Precision Engineering Vol. 29, Issue 12, Pages: 2806-2817(2021)
- 作者机构：
  
  哈尔滨工程大学机电工程学院，黑龙江哈尔滨 150001
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.2021.0242
  CLC： V414
- Received：29 April 2021，
  
  Revised：2021-05-28，
  
  Published：15 December 2021
- 稿件说明：
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罗阿妮,邹云涛,肖诗松等.四杆张拉整体单元的弯曲变形[J].光学精密工程,2021,29(12):2806-2817.

LUO A-ni,ZOU Yun-tao,XIAO Shi-song,et al.Bending deformation of four-bar tensegrity element[J].Optics and Precision Engineering,2021,29(12):2806-2817.
罗阿妮,邹云涛,肖诗松等.四杆张拉整体单元的弯曲变形[J].光学精密工程,2021,29(12):2806-2817. DOI： 10.37188/OPE.2021.0242.

LUO A-ni,ZOU Yun-tao,XIAO Shi-song,et al.Bending deformation of four-bar tensegrity element[J].Optics and Precision Engineering,2021,29(12):2806-2817. DOI： 10.37188/OPE.2021.0242.

摘要

为了扩大张拉整体的内部空间，实现展开前空间占用小，展开后内部空间的有效利用率高，对张拉整体轴向折叠方式及折展特性进行了研究。根据张拉整体的理论基础，介绍了节点矩阵、连接矩阵和构件矩阵，分析了张拉整体轴向折叠的意义以及存在的问题，并介绍了两种张拉整体沿轴向折叠的方法。在这两种折叠方式的基础上提出弯杆张拉整体，并给出弯杆张拉整体节点坐标的求解方法。最后，分析弯杆张拉整体在完全展开状态直至上下水平面重合时的弹性变形量，利用有限元软件分析得到模型完全压缩时节点的弯曲角度临界值。高度为270 mm，半径为200 mm的四杆张拉整体在轴向完全压缩时，上、下底面的相对偏转角为57°，杆长压缩率为13%。利用竹节作为杆构件时弯曲节点连接两杆构件所成角度不得大于90°。张拉整体直杆变弯有效地解决了杆构件间的干涉问题，内部有效利用空间增大，实现了轴向折叠。

Abstract

In order to expand the internal space in tensegrity elements， realize small space occupation before deployment， and effectively utilize the internal space after deployment， the axial folding mode and folding characteristics of tensegrity elements are studied. First， according to the tensegrity theory， the node， connection， and component matrices are introduced. Then， the axial-folding significance of tensegrity elements and the problems encountered during axial folding are proposed， and two axial folding methods of tensegrity elements are introduced. Then， on the basis of the two folding methods， the bending bar tensegrity is proposed， and the solution method of the node coordinates of the bending bar tensegrity is given. Finally， the elastic deformation of the bending bar tensegrity element in the fully expanded state until the upper and lower horizontal planes coincide is analyzed， and the limit-bending angle of the node is obtained using the finite element software. When the four-bar tensegrity element with a height of 270 mm and radius of 200 mm is fully compressed， the relative deflection angle of the upper and lower bottom surfaces is 57°， and the compression ratio of the bar length is 13%. When bamboo material is used for a bar member， the angle of the bending joint connecting the two bar members is at most 90°. The straight to bending bar tensegrity effectively avoids the interference between the bar components， which increases the effective utilization of internal space and realizes axial folding.

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references

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