闭环多体系统拓扑结构的动态搭建及其自动规则标号

DYNAMICALLY ASSEMBLING OF TOPOLOGICAL STRUCTURES OF MULTIBODY SYSTEMS WITH CLOSE-LOOPS AND AUTOMATIC REGULARLY LABELING

基于将多体系统拓扑结构的形成看作是一个动态搭建过程,本文提出了一个能够由铰与物体之间关联矩阵自动选取切断铰并自动对物体和铰进行规则标号的算法.利用该算法,在建立系统动力学方程过程中可以采用铰坐标但无需人为选定切断铰,从而在很大程度上简化了输入工作有效地避免了很多人工错误.

Topological structure of muhibody systems can be formed by dynamically assembling joints in the system. Based on this fact, this paper present a method by which not only the cut joints can be selected automatically but joints longer also the regularly labeling of bodies and joints can be done automatically. With the presented method, coordinates can be used to formulate the equations of motion while the manual selection of cut joints is no necessary, therefore errors in data input procedure are obviously reduced.