科研之友
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摘要
We write the equations of motion in vector form for any class k tensegrity system dynamics. The network approach yields a connectivity matrix and nodal matrix, providing the dynamics of any network of bars, pipes and cables. The class 1 (bars do not connect) dynamics are described together with a constraint added to allow bar to bar connections. Damping and gravity forces as well as base movement can be handled in a unified framework. The constraint force is eliminated to yield a compact set of vector equations.
- 出版日期2014-7
