Dynamic modeling of clustered tensegrity structures

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (16) : 287-294.

ZHANG Ziyu1, WANG Tong1, ZHOU Bin2

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Abstract

Aiming at clustered tensegrity structures, a multibody dynamic model was proposed based on arbitrary Lagrangian-Eulerian (ALE) method. Compared with the traditional Lagrangian model, this model has simpler kinematic constraints. First, an ALE variable length cable element was introduced. Its mesh nodes can move independently of the material points, providing a natural way to simulate the moving pulleys and the sliding cables. The generalized force vectors were derived using D'Alembert's principle, and then the associated Jacobian matrices were computed. Second, the dynamic equations of the whole tensegrity system were established, and solved using the generalized-α method. The global nodal position coordinates and material coordinates were selected as the generalized coordinates, in which the global nodal position coordinates can be shared by different bodies to reduce the number of DOFs of the dynamic equations, and eliminate the constraint equations between the bodies. Last, a numerical example, ten-stage tensegrity tower, was presented for both the quasi-static and dynamic deployment to verify the effectiveness of the proposed model. The model and algorithm proposed in this paper can provide theoretical guidance for the design of clustered tensegrity structures, and is of engineering significance.

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multibody dynamic model / clustered tensegrity / arbitrary Lagrangian-Eulerian / deployable structures

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ZHANG Ziyu1, WANG Tong1, ZHOU Bin2. Dynamic modeling of clustered tensegrity structures[J]. Journal of Vibration and Shock, 2024, 43(16): 287-294

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