树状多柔体系统动力学递推组集建模法

A Recursive Formulation for the Dynamic Analysis of Open Loop Tree Deferrable Multibody Systems

引入一种描述多柔体系统的随体坐标系，实现了刚体平动、刚体转动与弹性运动的分解，较好地消除了由于刚体大角度转动而产生的刚弹耦合非线性特性。根据约当变分原理，应用递推组集技术，由外层到内层逐层组装系统动力学方程，概括出一种树状多柔体系统动力学递推组集建模方法，降低了所需计算机存贮。最后给出一个数值算例。

In this paper, a relative coordinate system is introduced to describe the motion of flexible multibody system. This coordinate system fully utilizes the property of transform matrix to reduce the nonlinear couplings between rigid and elastic motion. A recursive formulation for the dynamic analysis of open loop trees deferrable multibody systems based on the Jardons principal is presented. The dynamic equation is assembled from outer layer to inner layer. Having used the recursive technique for dynamic equations formulation, computer storage is much less than other methods in calculation. A numerical example is given.