论文标题
关于带有条和三角形板的框架的抢劫性和奇异性距离
On the snappability and singularity-distance of frameworks with bars and triangular plates
论文作者
论文摘要
在最近的一篇文章中，作者提出了一种基于总弹性应变能量，通过使用胡克定律计算所有条形的变形以及凯奇/工程菌株的定义，来衡量棒接框架的捕捉能力（不久）。在手头的纸张中，我们通过使用绿色拉格朗日菌株的物理概念将这种方法扩展到由条形和三角形板组成的等静态框架。基于产生的总弹性应变能密度的固有假学不能仅用于评估可扣能力，还可以用于测量与最接近的奇异构型的距离。呈现的方法是根据3腿平面并行操纵器证明的。
In a recent article the author presented a method to measure the snapping capability -- shortly called snappability -- of bar-joint frameworks based on the total elastic strain energy by computing the deformation of all bars using Hooke's law and the definition of Cauchy/Engineering strain. Within the paper at hand, we extend this approach to isostatic frameworks composed of bars and triangular plates by using the physical concept of Green-Lagrange strain. An intrinsic pseudometric based on the resulting total elastic strain energy density cannot only be used for evaluating the snappability but also for measuring the distance to the closest singular configuration. The presented methods are demonstrated on the basis of the 3-legged planar parallel manipulator.
