A Subsystem Method for Nonlinear Dynamics of Deployable Scissor-like Mechanism
Liu Shuqing1,2 Wang Xingsong1
1. School of Mechanical Engineering, Southeast University，Nanjing 2111892. Advanced Manufacturing Technology & Engineering Center, Nanjing Institute of Technology, Nanjing 211167
Abstract：Deployable scissor-like mechanism consists of intercoupled closed-loop subsystem. A nonlinear dynamic modeling method for complex multibody system with such topological structure is put forward based on subsystem modeling. The effective inertia matrices and force vectors of subsystems are derived after the deployable scissor-like mechanism is divided into several simple subsystems. The effective inertia matrix and force vector of overall system can be computed subsystem by subsystem in backward recursion. Based on this, the large-scale equation of motion is inverted into simple equations and the complexity of solution is reduced. The subsystem model can be used repeatedly and the overall model can be updated easily when the structure or the number of subsystem is modified. The modeling process can be realized easily through computer program. The comparison with traditional method validates the proposed method.
2013, Vol. 32 
