树形带球铰的多刚体系统动力学方程的建立方法

THE ESTABLISHMENT OF THE GENERAL DYNAMIC EQUATIONS OF TREE-STRUCTURE RIGID BODIES SYSTEM WITH BALL JOINTS

本文提出了一种建立树形带球铰多刚体系统动力学方程的新方法,运用约束系统动力学研究成果,提出了广义刚体的概念以代替多刚体系统的子系统,并借助于广义刚体的不断扩充,求得了多刚体系统动力学方程建立的递推方法,该方法简单直观,几何概念清楚,并允许多刚体系统的扩充,且便于进行计算机符号处理。

A new method of establishing the dynamic equations of the multi-rigid-body system with tree-structure and the ball-joints is proposed. With the help of the dynamics of constrained system and the differential geometry, the concept of 'generalized body' is put forward to replace the sub-system of the multi-rigid body system. By the extension of the generalized body, the recursive algorithm of the establishment of the dynamic equations of the constrained system is derived.