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Modeling for closed-loop multibody system based on reusable subsystem


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Modeling for closed-loop multibody system based on reusable subsystem
Liu Shuqing12Wang Xingsong1
1.Advanced Manufacturing Technology and Engineering Center,Nanjing Institute of Technology, Nanjing 211167,China; 2.School of Mechanical Engineering,Southeast University,Nanjing 211189,China
closep-loops multibody system multibody dynamics reusable subsystem modeling
An efficient dynamic modeling method for the complex multibody system with intercoupled closed-loop subsystems is put forward based on the reusable subsystem model.The complex multibody system is divided into subsystems according to the topological structure,and the effective inertia matrices and force vectors of subsystems are derived.The effective inertia matrix and force vector of the overall system can be computed according the topological relationship of subsystems.The result shows that,for any degree of feedom of system,the dimensions of matrix in the dynamic model are always 6×6,so the large-scale equation of the motion for multibody system is avoided.The subsystem model can be used repeatedly when the same subsystem is included in the system.The modeling method is suitable for programming and the overall model can be updated easily when the structure and the parameters is modified.An example of the multi-scissor-like mechanism validates the proposed method.


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Last Update: 2013-10-31