[1]刘树青,王兴松.闭环多体系统的可重用子系统建模方法[J].南京理工大学学报(自然科学版),2013,37(05):705.
 Liu Shuqing,Wang Xingsong.Modeling for closed-loop multibody system based on reusable subsystem[J].Journal of Nanjing University of Science and Technology,2013,37(05):705.
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闭环多体系统的可重用子系统建模方法
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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:
37卷
期数:
2013年05期
页码:
705
栏目:
出版日期:
2013-10-31

文章信息/Info

Title:
Modeling for closed-loop multibody system based on reusable subsystem
作者:
刘树青1王兴松2
1.南京工程学院 先进制造技术工程中心,江苏 南京 211167; 2.东南大学 机械工程学院,江苏 南京 211189
Author(s):
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
关键词:
闭环 多体系统 多体动力学 可重用子系统 建模
Keywords:
closep-loops multibody system multibody dynamics reusable subsystem modeling
分类号:
TH112
文献标志码:
A
摘要:
针对由多个相互耦合的闭环子系统构成的复杂多体系统,提出了一种基于可重用子系统模型的高效动力学建模方法。根据复杂多体系统的拓扑结构划分子系统,求解子系统的等效质量矩阵和等效力向量,根据子系统间的拓扑关系,得到整个多体系统的等效质量矩阵和等效力向量。结果表明,无论系统的自由度多大,动力学模型中矩阵的维数始终为6×6,避免了求解大规模运动方程。当系统中包含重复的子系统时,子系统模型可多次使用。该方法易于程式化建模,且当系统的结构和参数发生变化时,动力学模型便于修改。对多级剪式机构的动力学建模及仿真验证了方法的正确性。
Abstract:
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2012-01-08 修回日期:2012-05-09
基金项目:国家自然科学基金(50875044); 南京工程学院创新基金(CKJ2011014)
作者简介:刘树青(1973-)女,博士,副教授,主要研究方向:机器人技术、多体系统动力学与控制,E-mail:liushuqing@126.com。
更新日期/Last Update: 2013-10-31