Un procedimiento para el diseño de estructuras adaptativas celulares de geometría variable.

Abstract

This research prpject deals with the solution of sorne rnechanical aspects of the adaptive truss structures behaviour, we will asume variable geornetry and low speed rnotion . Toe first part focus the topological aspects of this kind of structures: open, closed and rnultiloop kinematic chains, actuation systerns, degrees of freedorn and redundancy, interferences. In the second part we analyze the position problerns: direct and inverse position, continuous low speed motion, work space of the different precission points. Toe constraints introduced by the actuators, internal interferences, externa! obstacles will be also considered. The stiffness and modal properties of the structure will be also converted into equivalent geometric constraints. Toe methods here developed are the base of a set computer programs. The third part is devoted to the analysis of the variable mode shapes and frecuencies, considering the variable geornetry and the work space of the structure. A prototipe will be built, useful to check the theoretical and computational results and to improve the rnethods and procedures developed.