拉格朗的方法对原木顶点分析:动力学
Matthew Grasinger1, Andrew Gillman1, Philip R Buskohl1
1Air Force Research Laboratory, Wright-Patterson AFB, OH, USA.
概括
研究人员开发了一种新方法来解决复杂的原木动力学,使可部署结构和折叠机器人的设计更容易. 这种方法简化了用于工程应用的可折叠路径的分析.
科学领域:
- 工程 工程师 工程师 工程师
- 数学 数学 是一个数学.
- 机器人技术 机器人技术 机器人技术
背景情况:
- 原木原理在工程中越来越多地适用于可部署结构,机器人和元材料.
- 由于非线性方程和多个自由度,原形的动力学分析具有挑战性.
研究的目的:
- 为了推导出硬面原木顶点的减少顺序的兼容性条件.
- 为了获得对称顶点的精确,多度自由度的动力学解决方案.
- 开发一种系统的方法来构建较低对称度的解决方案.
主要方法:
- 利用拉格朗的方法来推导兼容性条件.
- 为6度和8度的顶点推导出精确的动力学解.
- 调查运动拓学和自我接触约束.
- 开发动力学解决方案的对称性破坏程序.
主要成果:
- 对称的原木顶点的减少顺序兼容性条件.
- 对6度和8度顶点的精确,多度自由度的解决方案.
- 有效地调查动力拓和设计参数的影响.
- 一种构建低对称的动力学解决方案的程序.
结论:
- 衍生出的解决方案增强了对原木顶点动态学的理解.
- 这项工作促进了对原创工程的算法设计程序的开发.
- 这些发现支持创建新的可部署结构和折叠机器人.
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