剪式可展机构非线性动力学分析的子系统方法

剪式可展机构由相互耦合的闭环子系统构成，针对这种拓扑结构的多体系统，给出了基于子系统模型的非线性动力学建模方法。将剪式可展机构分解为多个简单子系统，推导出子系统等效质量矩阵和等效力向量，通过子系统间的反向递推求解整个多体系统的等效质量矩阵和等效力向量，从而将大规模运动方程转化为简单运动方程，缩减了求解规模。所建立的子系统模型可以重复使用，且当子系统的结构或子系统个数发生变化时，便于整个剪式可展机构模型的修改，易于程式化建模。与传统方法的对比验证了该方法的正确性。

A Subsystem Method for Nonlinear Dynamics of Deployable Scissor-like Mechanism

Deployable scissor-like mechanism consists of intercoupled closed-loop subsystem. A nonlinear dynamic modeling method for complex multibody system with such topological structure is put forward based on subsystem modeling. The effective inertia matrices and force vectors of subsystems are derived after the deployable scissor-like mechanism is divided into several simple subsystems. The effective inertia matrix and force vector of overall system can be computed subsystem by subsystem in backward recursion. Based on this, the large-scale equation of motion is inverted into simple equations and the complexity of solution is reduced. The subsystem model can be used repeatedly and the overall model can be updated easily when the structure or the number of subsystem is modified. The modeling process can be realized easily through computer program. The comparison with traditional method validates the proposed method.