Analysis Of Folding Of The Star-shaped Tensegrity Structure

Te tensegrity structure is a kind of space structure with certain stability composed of flexible cables and rigid rods.The rod member supports the cable member from the inside,so that the whole structure has a certain stiffness.The design idea of the structure is based on tension components,which is different from the traditional design idea.The constructed structure has many characteristics that traditional structures do not have.In recent years,many achievements have been made in the research on tensioned structures at home and abroad,and the research directions mainly include deployable antennas,robots,extension arms and other fields.This paper mainly focuses on the research of star structure in developable structure,designs a reasonable driving structure for the structure,analyzes the motion characteristics of the structure under load,and proposes an umbrella shaped star structure based on star structure.Finally,a star tensioned developable structure model machine is made.Specific research contents include:1.Determine the mathematical modeling of the star structure and its folding idea,verify the feasibility of folding,obtain the relationship between the center bar and structural basic parameters,select the appropriate driving mode,material and structure size for the center drive bar,and make structural design and analysis for the center drive bar.2.By establishing stiffness matrix,the velocity curve of nodes under the influence of gravity in the process of elongation of central members is obtained.Combined with the variation curve and specific data of basic parameters during the extension process,the influence of gravity on the structure extension process is analyzed,and the influence of different types of external loads on the structural unfolding characteristics is considered.3.The umbrella shaped star structure based on three-bar star structure is proposed,and the specific structure is designed.The change of the torsion angle of the umbrella shaped structure in the process of structure deployment is deduced,and the size and internal force relationship among the components of the structure are determined,and the driving force required to realize the deployment is obtained.The influence of the connection point of the radial cable and inclined cable on the driving force and the length of the radial cable is analyzed.4.Made the model prototype,measured the experimental data in the folding process of the prototype,calculated the driving torque required for the motor shaft to realize the drive,and gave Suggestions for further improvement of the practical problems in the process of model expansion and folding.