摘要
提出了一种柔性多体系统动力学计算机辅助建模方法，即单向递推组建模方法。在运动学正向递推过程中程式化地组集建立链状，树状及含闭环的柔性多体系统用铁相对坐标及模态坐标表达的动力学方程，且有传统的绝对坐标方法及铰相对坐标方法的优点并克服了它们的不足。结果的形式同多刚体系统动力学方程兼容，并适合处理变结构多体机械系统的仿真。由于各条链上递推组集的独立性，本方法极易并已发展为并行计算方法。
A new modelins method for equationsof motion of flekible multibody syStems is presented in this paper, which is based on the absolutecordinate method and joint relative method and hasall advantages of these two methods' Graph theoryis used to describe the structures of systems' Theresults are expressed with joint relative coordinates and modal coordinates' Cut joint method isused to reduce the structures with closed loops tothe coresponding spanning trees, which are thendecomposed into a set of chains from the base bodyto terminal bodies' In every chain, the forward recursive construction method is developed, which isextended to the other structures. The formulationsobtained in this paper is compatible with those forriqid multibody systems and can be easily implemented for parallel processing.
基金
国学自然科学基金
青大工商学院青年基金
