在可展结构中设置刚性体可以有效提高展开效率，保证形状精度，因此含刚性体可展结构具有较高的实用价值。刚性体按需要可为刚性曲板等，一般形状复杂且形式多样，含任意形状刚性体可展结构的展开过程动力学分析比较困难。本文以笛卡尔坐标系下节点坐标及位移为变量，利用广义逆矩阵建立了一种通用的刚性体动力学方程，给出了利用Newmark—β法进行展开过程动力学分析的数值计算方法。通过算例分析及与ADAMS软件结果进行对比，验证了本文方法的正确性。与传统的多体系统动力学方法相比，该分析方法的优点是数学描述简洁明快，包含的未知量少，能够有效地分析含任意形状刚性体的可展开结构动力学问题。%Deployable structures with internal rigid bodies can improve both the deploying efficiency and the deploying precision. Thus, this kind of hybrid deployable structures is of high practical value. The surface of rigid bodies can be curved panels or other shapes. There is no efficient method to analyze the deploying dynamic process of this kind of deployable structure by now because it is difficult to describe the rigid surface in analysis. In this paper, the dynamic equation of rigid body using nodal coordinates and displacements as variables was established at first. Then, the dynamic equation was introduced to the deploying process analysis through using Moore-Penrose generalized inverse matrix method and Newmark numerical integration. In the end, a numerical example was given and the validity of the method was investigated compared with the calculation results of soft package ADAMS. Compared with multi-body system dynamics,the method suggested in this paper is easy in formulation and can be used to analyze the dynamic problems of deployable structures consisting of rigid bodies with arbitrary shapes.
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