• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (5): 26-30.

• 论文 • 上一篇    下一篇

计及环境特征的柔性多体系统动力学理论

贠今天;王树新;丁杰男   

  1. 天津大学机械工程学院
  • 发布日期:2005-05-15

DYNAMICS OF THE FLEXIBLE MULTI-BODY SYSTEMS IN CONSIDERATION OF ENVIRONMENT CHARACTERISTIC

Yun Jintian;Wang Shuxin;Ding Jienan   

  1. School of Mechanical Engineering,Tianjin University
  • Published:2005-05-15

摘要: 对柔性体非线性变形场进行了描述,将柔性体变形场表达为直至变形广义坐标的二阶小量的形式,基于Kane方程建立了任意形状柔性体动力学方程。采用Huston的低序体阵列描述多体系统的拓扑结构,以此为基础进行系统的动力学分析,同时依据Kane方程建立了一般柔性多体系统的动力学方程。在建立一般柔性多体系统动力学方程的基础上,研究了计及环境特征的柔性多体系统,将环境特征作为外部约束引入柔性多体系统,建立了带有约束的一般柔性多体系统动力学方程。

关键词: 动力学方程, 环境特征, 柔性多体系统, 约束

Abstract: Based on Kane’s equation, dynamics model of flexible body of arbitrary shape is established, and then the general dynamics analysis method for flexible body is extended and applied to general flexible multi-body system with no constrains on its topology. Together with Huston low-body array, which is used to describe the topology of multi-body system, dynamical equations are set up for general flexible multi-body system. For general flexible multi-body system in consideration of environment characteristic, environmental characteristic can be seen as external constrains to flexible multi-body system, and dynamical equations are set up for constrained general flexible multi-body system.

Key words: Constrain, Dynamical model, Environment characteristic, Flexible multi-body system

中图分类号: