基于完全笛卡尔坐标的机构动力学计算机分析

Mechanism Dynamic Analysis Based on the Fully Dicar Coordinator

介绍了一种用于平面和三维机构运动学和动力学分析的新方法 ,该方法基于完全笛卡尔坐标的参考基点和参考基矢量描述系统的位置和姿态 ,而不需要角度坐标。约束方程可以通过系统的各构件刚体条件和联接构件的关节铰或运动副的约束条件获得。由于约束方程仅是二次代数式 ,因而雅可比矩阵是线性的 ,可以大大提高计算效率。通过仿真算例表明 ,该方法解决机械系统机构动力学问题是有效的。

It introduces a new method for analysis of the dynamic mechanism. This method is based on the reference base point and vector in Dicar Coordinator, and does not require the angle coordinator. The constrain conditions can be set by the state of rigid bodies and linked joints, and Jacobe Matrix is linear. As an simulation example it is shown that the method is powerful and efficient for machinery dynamic solution.