摘要
本文提出了用于解决一般树形多体结构动力学问题的偏速度综合法.该方法综合了Kane方法和多体动力学中的递归法的优点,它不仅使最终的运动微分方程维数最小,而且便于用计算机求解.文中给出了树形多体系统运动的一般描述方法,推导了多体系统动力学方程的综合原理及方程的一般形式,最后,举了一个例子.
An approach used for solving the problems ofdvnamics of multibody svstems is presented, that is, partial ve-locitv svnthesis method. This method combines the advantages ofboth the inductive method for dynamics of multibody systemsand Kane's method. And hence, not only the resulting differen-tial equation set is of miuimum dimension, but also the effectivecomputer solution of equations is convenient. A procedur. forgeneral kinematic description of a multibodv system is present-ed, the principle of dynamic equation svnthesis and the generalformulations of dynamic equations of multibody systems aredeveloped. In the end, an illustrative example is given.
关键词
动力学
多体系统
偏速度
综合法
Dynamics
Multibody system
Partial velocity synthesis method
