多刚体系统动力学的子系统递推法

本文采用递归推导并定义铰基矢阵得到以相对速度或伪速度表示的动力学方程。对非树系统利用回路转换矩阵及铰基矢阵自动建立约束方程,并用奇异值分解缩聚法得到以独立伪速度为变量的动力学方程。并导出递推计算公式便于程序执行。相应的通用程序SNERM已产生。

SUBSYSTEM RECURSIVE METHOD IN DYNAMICS OF MULTIBODY SYSTEMS

In this paper a subsystem recursive method for dynamical equations of general multibody systems is developed which is reduced to a minimal set of equations in terms of relative velocity or quasi-velocity variables by defining the joint-mode vector matrixes for joints. For a nontree system,the constraint equations are produced automatically by using the loop transfer matrix and joint-mode vector matrixes, and the dynamical equations are reduced to a minimal set of equations in terms of independent relative quasi-velocity variables by applying the singular value decomposition reductive method. A set of recursive computation formulas is derived in order to get effective computation. A general purpose computer program SNERM is developed based on this method.