计及环境特征的柔性多体系统动力学理论  

DYNAMICS OF THE FLEXIBLE MULTI-BODY SYSTEMS IN CONSIDERATION OF ENVIRONMENT CHARACTERISTIC

作　　者：贠今天[1] 王树新[1] 丁杰男[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械工程学报》2005年第5期26-30,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(E059905019)中法合作基金(P29L35/EP934)资助项目。

摘　　要：对柔性体非线性变形场进行了描述,将柔性体变形场表达为直至变形广义坐标的二阶小量的形式,基于Kane方程建立了任意形状柔性体动力学方程。采用Huston的低序体阵列描述多体系统的拓扑结构,以此为基础进行系统的动力学分析,同时依据Kane方程建立了一般柔性多体系统的动力学方程。在建立一般柔性多体系统动力学方程的基础上,研究了计及环境特征的柔性多体系统,将环境特征作为外部约束引入柔性多体系统,建立了带有约束的一般柔性多体系统动力学方程。Based on Kane's equation, dynamics model of flexible body of arbitrary shape is established, and then the general dynamics analysis method for flexible body is extended and applied to general flexible multi-body system with no constrains on its topology. Together with Huston low-body array, which is used to describe the topology of multi-body system, dynamical equations are set up for general flexible multi-body system. For general flexible multi-body system in consideration of environment characteristic, environmental characteristic can be seen as external constrains to flexible multi-body system, and dynamical equations are set up for constrained general flexible multi-body system.

关 键 词：柔性多体系统 环境特征 约束 动力学方程 

分 类 号：TB122[理学—工程力学]