| 基于SOA理论的多体系统动力学广义质量建模 |
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| 引用本文： | 方喜峰,陆宇平,吴洪涛,刘云平,邵兵. 基于SOA理论的多体系统动力学广义质量建模[J]. 河海大学学报(自然科学版), 2009, 37(1): 115-118 |
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| 作者姓名： | 方喜峰 陆宇平 吴洪涛 刘云平 邵兵 |
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| 作者单位： | 南京航空航天大学自动化学院,江苏,南京,210016;江苏科技大学机械与动力工程学院,江苏,镇江,212003;南京航空航天大学自动化学院,江苏,南京,210016;南京航空航天大学机电学院,江苏,南京,210016 |
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| 基金项目： | 国家自然科学基金，国防预研重点基金，江苏省数字化制造技术重点实验室基金 |
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| 摘 要： | 为了提高多体系统动力学广义质量建模效率,运用空间算子代数(spatial operator algebra,SOA)理论,在计算机符号演算软件Mathematica6.0的环境下,对广义质量进行高效率递推设计与实现.采用SOA空间递推方式,形成了广义质量的高效递推算法.运用VB.NET编程软件实现与Mathematica6.0软件无缝集成,对多体系统动力学广义质量进行建模分析,给出了实施过程.结合实例对PUMA560机器人进行了广义质量设计,并与结果进行了对比,通过算例验证了程序建模的正确性和高效性.
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| 关 键 词： | 空间算子代数 广义质量 多体系统动力学 建模分析 |
| 修稿时间： | 2009-02-11 |
Generalized mass modeling of multi-body system dynamics based on SOA theory |
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| FANG Xi-feng,LU Yu-ping,WU Hong-tao,LIU Yun-ping,SHAO Bing. Generalized mass modeling of multi-body system dynamics based on SOA theory[J]. Journal of Hohai University (Natural Sciences ), 2009, 37(1): 115-118 |
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| Authors: | FANG Xi-feng LU Yu-ping WU Hong-tao LIU Yun-ping SHAO Bing |
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| Affiliation: | 1.College of Automation;Nanjing University of Aeronautics and Astronautics;Nanjing 210016;China;2.School of Mechanical and Power Engineering;Jiangsu University of Science and Technology;Zhenjiang 212003;3.College of Mechanical and Electrical Engineering;China |
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| Abstract: | To improve the generalized mass modeling efficiency of multi-body system dynamics,the recursive design and realization of the generalized mass procedure was built in the environment of software Matahematica6.0 by use of the spatial operator algebra(SOA) theory.Based on the SOA recursive mode,the recursive algorithm with high efficiency for the generalized mass was thus generated.The seamless integration with software Mathematica6.0 was realized by use of the programming software VB.NET.The modeling of the g... |
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| Keywords: | spatial operator algebra generalized mass multi-body system dynamics modeling and analysis |
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