The Theory of Basic Tensegrity Unit Stable Forming
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2017 Journal of Mechanical Engineering. Unified geometric parameters are put forward to describe different one-dimensional, two-dimensional and three- dimensional space dimension structure, and through geometric parameter changes, the seamless evolution of the different dimension structures can be realized. Based on basic form structure geometric parameters and fractal parameters, the method of application node force balance is put forward, and stable configuration theory of tensegrity basic form is built. The mathematical analysis model of the main fractal parameters and auxiliary fractal parameters and component spatial position and structure geometry parameter is established. The mapping relationship, which must be satisfied by the main fractal parameters and auxiliary fractal parameters to build the basic unit structure of self-stress stability, is established. The function relationship between each component force density under self-stress steady state is concluded after analysis. Application node generalized coordinates are combined with the component connection matrix, component internal force density and system force balance, write out the Matlab program. The input of basic body envelope geometric parameters can automatically complete vector calculation of all components and their spatial arrangement form, to implement the self-stress stable basic unit automatic configuration. Self-stress stable structure built by different fractal parameters is compared and analyzed, and the function relation between fractal parameters and structural geometrical parameters, force density, auxiliary shape parameter and its variation trend can be given.
