[1]王良明.多刚体系统动力求解的矩阵变换方法[J].南京理工大学学报(自然科学版),1999,(06):503-506.
 WangLiangming.Matrix Transform Method for Dynamic Analysis of Rigid Multibody Systems[J].Journal of Nanjing University of Science and Technology,1999,(06):503-506.
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多刚体系统动力求解的矩阵变换方法()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
1999年06期
页码:
503-506
栏目:
出版日期:
1999-12-30

文章信息/Info

Title:
Matrix Transform Method for Dynamic Analysis of Rigid Multibody Systems
作者:
王良明
南京理工大学动力工程学院, 南京210094
Author(s):
WangLiangming
School of Power Engineering,NUST,Nanjing 210094
关键词:
刚体力学 动力学 矩阵变换法
Keywords:
kinemat ics of rigid body dynamics matrix transform methods
分类号:
O313.7
摘要:
该文提出了求解多刚体系统动力学问题的矩阵变换法,是由带不定乘子的拉格朗日方程为基础推导得到的,其中不含拉格朗日不定乘子和约束反力。利用该方法,可根据无耦合单刚体的动力学参数和系统的速度变换矩阵通过矩阵运算获得多刚体系统的动力学方程。该方法主要面向计算机实现程式化的算法,系统动力方程可由计算机自动生成。文末给出了一个多刚体系统动力求解的例子。
Abstract:
The Matrix transform method for dynamic analysis of rig id multibody systems is presented in the paper. This method is based on the Lagrange multiplier method, but the result ing dynamic equat ions do not include the Lagrang e mult ipliers and const raint forces. With the aid of the dynamic mat rixes of each rigid body in its uncoupled system and the velocity transform matrix for a rigid mult ibody system, the dynamic equations of the coupled system can be obtained by the matrix operat ions. T he method is especially suitable to programming dynamic analysis by computers. A rig id mult ibody system is illust rated in the end of the paper.

参考文献/References:

1 刘延柱, 洪嘉振, 杨梅兴. 多刚体系统动力学. 北京: 高等教育出版社, 1989
2 Jian A1Unified formulation of dynamics of serial rigid multibody systems. J Guid Control Dyn,1991, 14( 3) : 1028~ 1034

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备注/Memo

备注/Memo:
王良明 男 36 岁 副教授
更新日期/Last Update: 2013-03-29