matlab 程序

说明：  下面将利用虚功原理对空间可展抓取机构的基本展开单元进行刚度建模。为了方便理论研究，本节给出下面的基本假设：1）动静平台的刚度远大于其他元件，因此可以视为无穷大；2）转动副润滑合理，不考虑其摩檫力；3）剪叉机构中间的铰链刚度远大于其他元件，可以视为无穷大；4）剪叉机构和空间支撑机构均为对称机构，为了简化建模过程，本文假设它们的对称部分具有相同的刚度。
(Next, the stiffness of the basic expansion element of the spatial deployable grabbing mechanism will be modeled by the principle of virtual work. In order to facilitate the theoretical research, the following basic assumptions are given in this section: 1) the rigidity of the dynamic and static platform is far greater than that of other components, so it can be regarded as infinite; 2) the lubrication of the rotating pair is reasonable without considering its friction force; 3) the hinge rigidity in the middle of the shear fork mechanism is far greater than that of other components, so it can be regarded as infinite; 4) the shear fork mechanism and the spatial support mechanism are both symmetrical mechanisms, in order to simplify In the process of modeling, we assume that their symmetrical parts have the same stiffness.)