Study on the nodal contact forces in tensegrity structures

IF 2.6 4区工程技术 Q3 MECHANICS

Mechanics Research Communications Pub Date : 2026-03-01 Epub Date: 2026-01-14 DOI:10.1016/j.mechrescom.2026.104626

Ani Luo , Yaming Feng , Heping Liu , Ziying Cao , Guangzhen Xing , Jinxin Lu

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Abstract

This study presents a methodology for analyzing ground contact forces in tensegrity structures under unilateral constraints. A force-law-based contact formulation is first introduced for tensegrity systems. The results indicate that the large penetration depths permitted by this formulation lead to pronounced oscillations in both contact velocity and contact force at the interacting nodes. To overcome this limitation, the normal and tangential contact conditions are reformulated as standard linear complementarity problems. Normal contact is described using a Newtonian impact law to account for kinetic energy dissipation, while tangential contact is governed by Coulomb friction to model the stick–slip transition. For three-dimensional cases, the friction cone is approximated using a polyhedral representation. The resulting dynamic system is solved using a hybrid time-stepping scheme that combines the Moreau midpoint method with a fourth-order Runge–Kutta integrator. Finally, two numerical examples are presented to demonstrate the advantages of the proposed method in terms of accuracy and stability.

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张拉整体结构节点接触力研究

本研究提出了一种分析单边约束下张拉整体结构中地面接触力的方法。首先介绍了一种基于力律的张拉整体系统接触公式。结果表明，该公式允许的大穿透深度导致相互作用节点的接触速度和接触力都有明显的振荡。为了克服这一限制，将法向和切向接触条件重新表述为标准线性互补问题。法向接触用牛顿碰撞定律来描述动能耗散，而切向接触由库仑摩擦来模拟粘滑过渡。对于三维情况，摩擦锥近似使用多面体表示。采用莫罗中点法和四阶龙格-库塔积分器相结合的混合时间步进方法求解得到的动态系统。最后，给出了两个数值算例，验证了该方法在精度和稳定性方面的优势。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanics Research Communications 物理-力学

CiteScore

4.10

自引率

4.20%

发文量

114

审稿时长

9 months

期刊介绍： Mechanics Research Communications publishes, as rapidly as possible, peer-reviewed manuscripts of high standards but restricted length. It aims to provide: • a fast means of communication • an exchange of ideas among workers in mechanics • an effective method of bringing new results quickly to the public • an informal vehicle for the discussion • of ideas that may still be in the formative stages The field of Mechanics will be understood to encompass the behavior of continua, fluids, solids, particles and their mixtures. Submissions must contain a strong, novel contribution to the field of mechanics, and ideally should be focused on current issues in the field involving theoretical, experimental and/or applied research, preferably within the broad expertise encompassed by the Board of Associate Editors. Deviations from these areas should be discussed in advance with the Editor-in-Chief.