树形多刚体系统单向递推组集计算机求解

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 ,采用相对坐标的建摸描述方法 ,自动选择广义坐标 .对各个刚体采用规则标号标识 .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 ,这样建摸效率高 .采用Adams预估 -校正和隐式多步 Runge-Kutta方法求解动力学方程 ,计算速度快 ,并就上述算法编制了通用程序 TMAS,通过算例表明算法高效可靠 .

Computer Automatical Recursive Method and Evaluation of Dynamic Equation for Multi-rigid Body System

All sorts of class libraries for multi body system have been established and the Roberson/Wittenburg method has been used to describe the structure of multibody system. The concept of "path" has been introduced to make the formulation for the kinematics and dynamics of multibody system more concise and least information needed. According to the directions of "paths", the recursive formulas for the kinematic and dynamic of multibody system have been obtained. Based on the principle of virtual work, the one way recursive method for construction has been presented here. This method has high efficiency in formulation and the analogy in solving the equations of different problems makes it easier to organize the program. The Adamas method has been adopted to solve the dynamic equation of multibody system and the data of several forward steps has been repeatedly used, so the speed of computation is high. Based on the aforementioned method, the software for the simulation of multibody system has been organized in this paper,which shows high efficiency and accuracy in the simulation of multibody system.