多体系统中动力刚化项差时初应力补偿方法

当航天器和机器人等机械系统中存在高速旋转的部件时,传统的多体系统建模方法由于不能正确考虑动力刚化效应而给出了错误的结果,严格依据连续介质力学的基本原理,给出了多体系统中动力刚化的力学机理,评述了现有的几种主要的动力刚化项补偿方法,在综合现有方法的基础上提出了新的动力刚化项补偿方法－差时初应力补偿方法,在方法的主要思想是利用系统部件在前一时刻的内部应力构造由于部件高速旋转产生的动力刚化项,因而能够在保持弹性部件运动方程线性的情况下,以更小的代价模拟旋转部件的动力刚化效应。

Belated initial stress method for dynamic stiffening in multibody systems

When one of the components of mechanical systems, such as robotics and spacecraft, underges high speed spin, the traditional methods for solving the problems in multibody systems are unable to give correct results, because the effects of dynamic stiffening in multibody systems are not taken into account correctly. Based on the fundamental of continuum mechanics, this paper gives a discussion in detail about the mechanism of dynamic stiffening in multi body systems and makes a review about varied theories for capturing dynamic stiffness. Then a new method called "belated initial stress method" is presented for correctly modeling the dynamic stiffening in multibody systems. The basic idea is to capture the dynamic stiffness by the initial stress of elastic components at last moment. Compared with the current methods, this method is more efficient.