计算碰撞力的方法

在子结构离散的柔性多体系统的动力学基础上，由质点系统的质心运动定理建立了与接触碰撞有关约束的Ｌａｇｒａｎｇｅ乘子和撞击力的关系．计算了平面三连杆机构在撞击过程中撞击力的变化规律和一些特殊节点相对浮动坐标系的平移位移，以及太阳电池阵展开过程中各构件之间的撞击力．通过计算发现，撞击力经过一定时间达到峰值后逐渐下降．在撞击发生时参加碰撞的物体的动力学响应较大，但其他物体的动力学响应很小，由此可见，冲击波在柔性体中传播需要一定的时间．

Method for Calculating Impact Force

Substructure method was used to obtain dynamic equations of flexible multibody system in contact. The relation between Lagrange multiplier of impact and impact force was obtained on the basis of theorem of motion of mass center. The time history of impact force of three planar flexible bodies, dynamic reaction of some nodes were calculated. The impact force of solar battery was also calculated. The effects show that the impact force reaches the peak after impact happens and then falls down and that the dynamic response of bodies with impact is much greater than other bodies when impact happens. The conclusion is that it takes a few time for the impact wave to spread throught the flexible bodies.