The Tensegrity Structure Research Based On Michelle Spiral Theory

Tensegrity structure has many advantages, such as light quality, high reliability and excellent mechanical properties. Widely used in mobile robot, deployable antenna,extension arms, and smart sensor. It has become one of the most cutting-edge research in the field of space structure. Based on Michelle spiral theory and fractal theory, build one kind of space tensegrity structure. And carried out some research works, such as stability determination, stiffness Analysis and minimum quality design. The details are as follows:Build mathematical analysis models of planar Michelle tensegrity structure and space Michelle tensegrity structure based based on Michelle spiral theory and fractal theory. And analyze the parameters of space Michelle tesegrity structure. First, build node matrix of Michelle spirals, and complete the connection matrix derivation. Then formed Michelle spirals. Second, through Michelle spirals9 topology obtain planar Michelle tesegrity structure. Finally, combine fractal theory and based on the planar Michelle tesegrity structure, trying to build a space Michelle 'tesegruty structure. According to the build process of mathematical analysis model, put forward three different configuration schemes,and compare these schemes with the conditions such as diameter of structure,surface roughness. Select the optimal construction scheme.Analyze the stability of space Michelle tesegrity structure, and then put forward two kinds of methods to make the space Michelle tensegrity structure to achieve stability:increase members and apply external force. Based on the mathematical analysis model of space Michelle tesegrity structure, balance matrix method is used to judge the stability of space Michelle tesegrity structure. The results shows that the structure belongs to unstable structure. According to two stable balance methods, proposed two stable schemes of space Michelle tensegrirty structure.Later, analyze the stiffness of stable space Michelle tesegrity structure. Choose the better structure which has the smaller deformation under the action of external force.Based on the element stiffness matrix of members obtain the overall stiffness matrix of the two stable space Michelle tesegrity structure. Analysis the deflection of nodes, and Choose the better structure.Finally, design the minimum mass of the space Michelle tesegrity structure which has been selected. On the basis of three bars tensegrity structure, unfold and analyze simple space Michelle tensegrity structure. Takeing planar Michelle tensegrity structure and space Michelle tensegrity structure as the research objects, which are under the action of external,optimization the minimum mass of the two structures. Select members' force density and cross section as the design parameters and considering the two failure modes of bar design the minimum mass.This article innovative designed a space Michelle tensegrity structure. And carried out some research works, such as stability determination, stiffness Analysis and minimum quality design. This study enriches the tensegrity theory, and expands the application of tensegrity structure.