非圆截面弹性细杆的螺旋线平衡及稳定性

本文研究端部受力和力矩作用，且存在初曲率和初扭率的非圆截面弹性细杆的螺旋线平衡及其稳定性。描述弹性细杆平衡状态的Kirchhoff方程存在与杆的螺旋线平衡状态相对应的特解。直杆和圆环杆为螺旋线状态的两种特例。文中分析了螺旋线的几何特性与作用力和力矩之间的相互关系，并导出螺旋线平衡的一次近似解析形式稳定性判据。分析表明，松弛状态下弹性杆可处于螺旋线状态，直杆只有在轴向压力的作用下才能保持螺旋线平衡。无初曲率和初扭率弹性杆的螺旋线平衡稳定性必要条件是杆截面绕副法线轴的抗弯刚度大于或等于绕法线轴的抗弯刚度。此条件也适用于带初扭率的圆环杆及更普遍情形。无初曲率和初扭率的圆截面杆的螺旋线平衡恒稳定。     

圆锥曲线的静力学性质

利用解析几何与分析力学,得出均质细杆处在光滑的圆锥曲线内壁中受力平衡和处于稳定平衡状态的条件,并得出圆锥曲线的静力学性质:将均质细杆过焦点倾斜放入光滑的圆锥曲线内壁中,细杆受力平衡且处于稳定平衡状态.另外用圆锥曲线的光学性质证明其静力学性质.     

THE STATIC PROPERTIES OF CONIC CURVE

利用解析几何与分析力学,得出均质细杆处在光滑的圆锥曲线内壁中受力平衡和处于稳定平衡状态的条件,并得出圆锥曲线的静力学性质：将均质细杆过焦点倾斜放入光滑的圆锥曲线内壁中,细杆受力平衡且处于稳定平衡状态。另外用圆锥曲线的光学性质证明其静力学性质。     

张弦梁(桁架)结构的找形方法——分级卸载法

对张弦梁(桁架)结构的找形问题进行了深入研究,根据该类结构的受力特点,提出了分级卸载法。该方法无需假定结构零状态几何,而可以一次得到对应于初状态(即预应力态)几何的结构施工放样尺寸(即零状态几何),并通过分级加载对该方法的精度进行了检验。     

基于弹性理论的顺层边坡失稳破坏力学模型分析

在分析顺层边坡受力状况的基础上,当边坡的坡脚未被破坏时,将顺层边坡视为弹性地基上的悬臂梁,由此提出其失稳破坏的力学模型。应用弹性理论求出在力作用下悬臂梁的应力状态,并根据摩尔-库伦准则,导出可判定其稳定性的安全系数计算公式,得出了顺层边坡处于极限平衡状态极限长度。同时通过实例计算,将文中方法与应用突变理论所得结果对比,验证了本文方法的可行性。     

考虑几何非线性的柔性光伏支架变形与刚度分析

柔性光伏支架采用了小垂跨比（小于1/30）的悬索结构，具有很强的几何非线性。本文以直线状态索拉力为初始条件，给出了均布载荷下跨中垂度的三次方程和垂度显式解析解，求出考虑大变形几何非线性的索力高精度近似解；通过对平衡方程和垂度方程微分，得到了平衡状态的竖向切线刚度；通过对工程算例进行分析，并与非线性有限元计算结果进行对比，跨中垂度、索拉力误差均不超过0.5%。本文所得到的静力计算公式简单、准确，平衡状态竖向切线刚度物理意义明确，可为柔性光伏支架静力分析和结构设计提供参考。     

弹塑性断裂的工程方法分析

本文简要地介绍了最近发展起来的弹塑性断裂分析的工程方法,对几种不同裂纹形态的大型试件的断裂过程进行了计算,分析了阻力曲线、极限载荷对计算结果及几何形状、受力状态对裂纹稳定扩展过程的影响.计算结果和实验及其它分析方法比较表明,工程方法较好地描述了裂纹体的起裂、稳定和不稳定扩展过 ...     

基于大变形分析的动不定体系的求解

动不定体系由于内部存在机构位移,其求解过程不同于动定体系。为了全面了解动不定体系的受力性能,本文对其相容及非相容平衡方程的求解进行了详细的分析和推导;同时,由于动不定体系求解过程涉及大位移,本文对通常建立在小变形假定下的变形协调方程进行了重新推导,采用建立在大变形基础上的变形协调方程对有限机构进行求解,并由此编制了相应的计算程序。算例分析表明本文计算方法是精确和有效的,可用于确定动不定体系的平衡状态和内力。     

空间几何构造分析的有限单元法

提出空间杆系几何构造分析的有限单元法，构造了两种单元(链杆单元和准梁单元)的几何约束矩阵，集成为整体矩阵并引入承条件后，通过对其阶数与秩的比较分析确定体系的几何可变性及静定性．本法原理简单，便于计算机实施，结果完备：对于几何不变体系，可指出多余约束的数目；对于几何可变体系，可给出体系的自由度数及相应的运动模态，并确定自由度的常变瞬变性质．     

简支梁大变形的优化算法

提出一种求解几何非线性问题的优化算法,并研究了简支梁的几何非线性大变形问题。首先取简支梁大变形后的平衡状态为研究对象,分别创建它的变分模型和微分模型;然后基于微分模型,通过动坐标的迭代关系式求得微段端点坐标,构建微段端点未知坐标的目标函数;最后确定简支梁几何非线性大变形的最优化问题,并编制相应优化程序进行求解。通过分析典型算例,并同有限元方法的计算结果相比较,表明提出的优化算法在求解强几何非线性大变形问题中的正确性,为处理几何非线性大变形问题提供了一种新方法。     

Stability conditions of prestressed pin-jointed structures

Pin-jointed structures are first classified to trusses, tensile structures, and tensegrity structures in view of their respective stability properties. A sufficient condition for stability of an equilibrium state is derived for tensegrity structures. The condition is based on the bilinear forms of the linear and geometrical stiffness matrices considering the flexibility of members. The stability is defined by the positive definiteness of the tangent stiffness matrix, whereas the definition of prestress-stability is based on the geometrical stiffness matrix and the infinitesimal mechanisms. Numerical examples verify that the so-called super-stability condition might not be satisfied by a stable tensegrity structure, and that a prestress-stable structure can be unstable if the prestresses are moderately large.     

Structural morphology of tensegrity systems

The coupling between form and forces, their structural morphology, is a key point for tensegrity systems. In the first part of this paper we describe the design process of the simplest tensegrity system which was achieved by Kenneth Snelson. Some other simple cells are presented and tensypolyhedra are defined as tensegrity systems which meet polyhedra geometry in a stable equilibrium state. A numerical model giving access to more complex systems, in terms of number of components and geometrical properties, is then evoked. The third part is devoted to linear assemblies of annular cells which can be folded. Some experimental models of the tensegrity ring which is the basic component of this “hollow rope” have been realized and are examined.     

A Monte Carlo form-finding method for large scale regular and irregular tensegrity structures

We propose a Monte Carlo form-finding method that employs a stochastic procedure to determine equilibrium configurations of a tensegrity structure. This method does not involve complicated matrix operations or symmetry analysis, works for arbitrary initial configurations, and can handle large scale regular or irregular tensegrity structures with or without material/geometrical constraints.     

A novel method of determining the sole configuration of tensegrity structures

A novel analysis method is presented for form-finding of tensegrity structures. The spectral decomposition of the force density matrix and the singular value decomposition of the equilibrium matrix are performed iteratively to find the feasible sets of nodal coordinates and force densities. An algorithm of determining the sole configuration of free-form tensegrities is provided by specifying an independent set of nodal coordinates, which indicates the geometrical and mechanical properties of the structures can be at least partly controlled by the proposed method. Several illustrative examples are presented to demonstrate the efficiency and robustness in finding self-equilibrium configurations of tensegrity structures.     

索牵引并联机器人静态平衡位置的正解研究

研究了一种大跨度但运动缓慢的索牵引并联机器人的位置正解问题,此时可认为系统处于静平衡状态,但必须考虑柔索垂度的影响。索牵引并联机器人的静态平衡位置的正解就是确定机器人末端执行器的位置和姿态,使得系统能在给定的柔索长度下处于静平衡状态。这涉及到系统的非线性力学分析而不仅仅是一个几何问题。本文采用悬链线方程描述柔索的力学特性,结合索端位移与机器人末端执行器位移之间的关系推导出机器人的末端执行器位移与索长变化之间的增量关系,据此提出一种迭代策略完成正解计算。数值算例验证了本文方法的有效性。     

Symmetric prismatic tensegrity structures. Part II: Symmetry-adapted formulations

This paper presents analytical formulations for the symmetry-adapted equilibrium, force density and geometrical stiffness matrices for prismatic tensegrity structures with dihedral symmetries. An analytical expression for the infinitesimal mechanisms is also derived.     

Adaptive force density method for form-finding problem of tensegrity structures

A numerical method is presented for form-finding of tensegrity structures. Eigenvalue analysis and spectral decomposition are carried out iteratively to find the feasible set of force densities that satisfies the requirement on rank deficiency of the equilibrium matrix with respect to the nodal coordinates. The equilibrium matrix is shown to correspond to the geometrical stiffness matrix in the conventional finite element formulation. A unique and non-degenerate configuration of the structure can then be obtained by specifying an independent set of nodal coordinates. A simple explanation is given for the required rank deficiency of the equilibrium matrix that leads to a non-degenerate structure. Several numerical examples are presented to illustrate the robustness as well as the strong ability of searching new configurations of the proposed method.     

基于动力松弛法的松弛索杆体系找形分析

索杆张力结构施工成形分析需要解决一个松弛态索杆系统的平衡形态求解问题,该问题可归结为一个给定构件原长的受荷索杆机构系统的找形问题。文中利用动力松弛法进行该类松弛索杆体系的找形分析。由于不建立刚度矩阵,避免了体系几何不稳定性所引起的刚度矩阵奇异问题。该方法采用悬链线索单元模型,可以考虑索大垂度效应。文中还推导了反映索原长和内力之间关系的悬链线索单元协调方程。通过一个正交松弛索网算例分析,考察了该找形方法的计算精度和收敛性。最后还模拟了一个索穹顶的施工成形过程,表明了该找形方法用于索杆张力结构施工成形分析的有效性。     

Geometrical nonlinear elasto-plastic analysis of tensegrity systems via the co-rotational method

An efficient finite element formulation is presented for geometrical nonlinear elasto-plastic analyses of tensegrity systems based on the co-rotational method. Large displacement of a space rod element is decomposed into a rigid body motion in the global coordinate system and a pure small deformation in the local coordinate system. A new form of tangent stiffness matrix, including elastic and elasto-plastic stages is derived based on the proposed approach. An incremental-iterative solution strategy in conjunction with the Newton-Raphson method is employed to obtain the geometrical nonlinear elasto-plastic behavior of tensegrities. Several numerical examples are given to illustrate the validity and efficiency of the proposed algorithm for geometrical nonlinear elasto-plastic analyses of tensegrity structures.     

具有滑移式散索鞍的悬索桥主缆架设分析

为分析悬索桥的主缆架设,首先建立了滑移式索鞍纵向复合圆曲线的数学描述方法,进而利用弹性悬链线的精确解,建立了两索鞍间索跨的分析方法,并用于确定由成桥几何控制参数确定的悬索桥成桥状态,随后通过移动鞍座寻找平衡位置,可得到空载时索鞍预偏量、各跨垂度、索股张力和索夹位置等重要参数。这种解析迭代法可以考虑散索鞍重量的影响,以及主梁的架设对索鞍支承面的弹性压缩。算例表明本文所建立的方法是正确的。工程算例还表明具有不同纵向曲线的索鞍对悬索桥结构的整体静力分析结果影响甚微,且忽略散索鞍的重量将使架设时锚跨侧索股的张拉力偏大。