张拉整体伸展臂的构建方法研究

臂状张拉整体结构转化为张拉整体伸展臂的方案被分析研究。首先，构建臂状张拉整体结构的数学模型。而后，基于臂状张拉整体结构，通过受力变形分析，获得了此结构在轴向外载作用下，其整体高度、截面直径和构件长度变化规律。依据分析结果，研究驱动此结构折叠的方案和索构件弹性化方案。利用仿真分析和模型实验，对所获得的机构方案的可行性和合理性进行了分析验证。通过研究得到：将多层张拉整体斜索和鞍索柔性化，驱动附加索更容易实现折展；张拉整体层数增多时，驱动附加索可减小控制难度；多层张拉整体占用空间主要受高度影响。通过分析，获得了一种可行的张拉整体伸展臂设计方案。研究中应用的由折叠方式推导展开方案的分析思路也能够为张拉整体结构的机构化研究提供借鉴。

Method for building the deployable tensegrity mast

It will be investigated here how to transform the tensegrity mast into the deployable tensegrity mast. Firstly, the mathematical model of the tensegrity structure is established. Then, based on the tensegrity arm, through the force and deformation analysis, the change rules of the overall height, section diameter and member length of the structure under axial external load are obtained. According to the analysis results, the folding scheme of driving structure and the elastic scheme of string members are studied. The feasibility and rationality of the mechanism scheme are verified by simulation analysis and model experiment. Through the research of this paper, we get the conclusions: the flexible vertical string and saddle string of multi-layer tensegrity will be easier to realize folding by driving additional string; When the number of tensegrity layers increases, driving additional string can reduce the difficulty of control; The overall space occupied by multi-layer tensegrity is mainly affected by the height. A feasible design scheme of tensegrity extension arm is obtained. The analytical method of deriving deployment scheme by folding mode is useful for the analysis of the mechanism of tensegrity structures.