论文标题
可压缩条的张力系统中限制动态的拉格朗日方法
A Lagrangian Method for Constrained Dynamics in Tensegrity Systems with Compressible Bars
论文作者
论文摘要
本文提出了一种Lagrangian的方法，用于在张力框架中模拟多体动力学，并具有在能量保护方案中应对自动限制违规行为的能力。使用非最低坐标来描述控制方程，以简化结构运动学的描述。为了最大程度地减少该冗余系统产生的约束漂移，直接校正方法与一种新型能量校正方案结合使用，该方案将系统的总机械能视为补充约束。该公式已扩展，以允许具有可压缩条的张力结构，从而进一步讨论较软的条材料的潜在选择。涉及共同张力结构的基准示例表明，在运动精度和能量保存方面，提出的配方比Simscape多体的优越性。发现能量校正方案的有效性随结构中变形的程度而增加。
This paper presents a Lagrangian approach to simulating multibody dynamics in a tensegrity framework with an ability to tackle holonomic constraint violations in an energy-preserving scheme. Governing equations are described using non-minimum coordinates to simplify descriptions of the structure's kinematics. To minimize constraint drift arising from this redundant system, the direct correction method has been employed in conjunction with a novel energy-correcting scheme that treats the total mechanical energy of the system as a supplementary constraint. The formulation has been extended to allow tensegrity structures with compressible bars, allowing for further discussion on potential choices for softer bar materials. The benchmark example involving a common tensegrity structure demonstrates the superiority of the presented formulation over Simscape Multibody in terms of motion accuracy as well as energy conservation. The effectiveness of the energy correction scheme is found to be increasing with the extent of deformations in the structure.
