多体动力学程序切断铰的处理方法

多体系统动力学从非树系统派生出树系统的计算需要进行切断铰的处理。切断铰约束方程的形成是进行多体系统程序编写时的重要部分,其处理过程复杂,需要一定的技巧。本文引入了约束正交补轴的概念,详细介绍了几种典型(旋转铰、万向节、棱柱铰、旋转棱柱组合铰)切断铰位移约束方程、速度约束方程、加速度约束方程的形成方法,并给出了详细的程序化过程,该方法适用于任何类型的切断铰。最后给出相应算例,结果表明本文的方法能快速、正确地形成切断铰约束方程。

The cut-off joints analysis method in the multi-body systems program

The cut-off joints constraint equation is one of the most important parts in the multi-body system without tree structure program.The disposal of the method is complex.For the purpose of developing those constraint equations,this paper introduced the concept of the constraint orthogonal axis.Several typical cut-off joints(revolute,universal,prism,revolute-prism) constraint equations were developed.And the detail steps of the program were written out.These methods are applicable to any other cut-off joints.Numerical example demonstrates the effectiveness and the quickness of the proposed analysis method for the cutoff joints constrain equation.