{"title":"A unified approach to dynamic analysis of tensegrity structures with arbitrary rigid bodies and rigid bars","authors":"Jiahui Luo, Xiaoming Xu, Zhigang Wu, Shunan Wu","doi":"10.1007/s11044-024-10007-3","DOIUrl":null,"url":null,"abstract":"<p>We propose a unified approach to dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a nonminimal description in terms of different combinations of basic points and base vectors to resolve the heterogeneity between rigid bodies and rigid bars in the three-dimensional space. This leads to a set of differential-algebraic equations with constant mass matrix free from trigonometric functions. Formulations for linearized dynamics are derived to enable modal analysis around static equilibrium. For numerical analysis of nonlinear dynamics, we derive a modified symplectic integration scheme that yields realistic results for long-time simulations and accommodates nonconservative forces and boundary conditions. Numerical examples demonstrate the efficacy of the proposed approach for dynamic simulations of Class-1-to-<span>\\(k\\)</span> general tensegrity structures under complex situations, including dynamic external loads, cable-based deployments, and moving boundaries. The novel tensegrity structures also exemplify new ways to create multifunctional structures.</p>","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":null,"pages":null},"PeriodicalIF":2.6000,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Multibody System Dynamics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s11044-024-10007-3","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MECHANICS","Score":null,"Total":0}
引用次数: 0
Abstract
We propose a unified approach to dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a nonminimal description in terms of different combinations of basic points and base vectors to resolve the heterogeneity between rigid bodies and rigid bars in the three-dimensional space. This leads to a set of differential-algebraic equations with constant mass matrix free from trigonometric functions. Formulations for linearized dynamics are derived to enable modal analysis around static equilibrium. For numerical analysis of nonlinear dynamics, we derive a modified symplectic integration scheme that yields realistic results for long-time simulations and accommodates nonconservative forces and boundary conditions. Numerical examples demonstrate the efficacy of the proposed approach for dynamic simulations of Class-1-to-\(k\) general tensegrity structures under complex situations, including dynamic external loads, cable-based deployments, and moving boundaries. The novel tensegrity structures also exemplify new ways to create multifunctional structures.
期刊介绍:
The journal Multibody System Dynamics treats theoretical and computational methods in rigid and flexible multibody systems, their application, and the experimental procedures used to validate the theoretical foundations.
The research reported addresses computational and experimental aspects and their application to classical and emerging fields in science and technology. Both development and application aspects of multibody dynamics are relevant, in particular in the fields of control, optimization, real-time simulation, parallel computation, workspace and path planning, reliability, and durability. The journal also publishes articles covering application fields such as vehicle dynamics, aerospace technology, robotics and mechatronics, machine dynamics, crashworthiness, biomechanics, artificial intelligence, and system identification if they involve or contribute to the field of Multibody System Dynamics.