带闭环的多刚体系统的动力学方程

应用Roberson/Wittenburg方法中描述多刚体系统形态的关联矩阵和通路矢量矩阵及Kane方程处理多刚体系统的方法,推导了全部转动铰带闭环的多刚体系统的动力学方程,因而使推导过程简单、明了,得到的动力学方程可使进行带闭环的多刚体系统的数值计算更易程序化。

Equations of Motion of Multi-body System with Closed Loops

In this paper, the matrix method which is suitable to multidegree of freedom system is adopted to derive the equations of motion of multi-body svstem with ball-and-socket, universal, and pin joints with closed loops. In the derivation process, the incidence matrix and path-vector mat- rix which are used to describe the geometrical configuration of multi-body system in Roberson/Wittenburg method and Kane method for processing multi-body system are applied simultaneously. Thus, not only is the derivation simplified but the equations of motion obtained make the numerical calculation for the dynamic analysis of multi-body system with closed loops apparently much easier for programing as well.