树型多刚体系统单向递推组集计算机求解

COMPUTER-BASED AUTOMATIC RECURSIVE METHOD AND EVALUATION OF DYNAMIC EQUATION FOR MULTI-RIGID BODY SYSTEM

对组成多刚体系统的各个刚体和铰建立基本类库 ,采用 R/W方法描述多体系统的结构 ,采用相对坐标的建模描述方法 ,自动选择广义坐标 .对各个刚体采用规则标号标识 ,自动形成路的信息 ,按路的方向递推组集多刚体系统运动学和基于虚功原理的动力学方程 ,这样建模效率高 ,简洁 .采用 Adams预估—校正和隐式多步 Runge-Kutta方法求解动力学方程 .该方法重复使用前几步信息 ,计算速度快 .并就上述算法编制了软件 。

All sorts of class libraries for a multibody system have been established and the Roberson/Wittenburg method has been adopted to describe the structure of the system.The concept of 'path' has been introduced to make the formulation for the kinematics and dynamics of multi body system more concise and need the least information.Guided by the directions of 'paths',recursive formulas both for kinematics and dynamics of the multi body system have been obtained.Based on the principle of irtual work,the one way recursive method for model construction has been proposed.This method affords high efficiency to the formulation.And the analogy in solving the equations of different propblems makes it easier to work out the program.The Adams method has been adopted to solve the dynamic equation of multi body system and the data of several previous steps have been used repeatedly.The computation speed is thus raised.Based on the aforementioned method,the software for the simulation of multi body system has been worked out.Calculated examples show that high efficiency and satisfactory accuracy can be achieved in the simulation of the multi body system.