摘要
介绍了柔性多体系统动力学中的三类建模方法:浮动坐标系描述法、迁移坐标系描述法和惯性坐标系描述法。对各类建模方法从总体上作了比较,结果表明,对具有小变形、低转速特点的空间可展开机构动力学,较适合于采用浮动坐标系描述方法建立模型。然后,分别对浮动坐标系描述方法中所涉及运动学的描述,动力学方程的建立和模态综合技术等问题进行了讨论。
Abstract： Three kinds of modeling method in the flexible multi-bodied systematic dynamics were introduced, namely de- scription of floating coordinate system, description of movable coordinate system and description of inertia coordinate system. Overall comparisons have been made on various kinds of model- ing methods, and the result shows that the dynamics of spatial developable mechanism, which has characteristics of small de- formation and low rotation speed, is comparatively suitable to adopt the description method of floating coordinate system to establish its model. And then, discussions have been carried out respectively on problems of the kinematics description being involved in the description method of floating coordinate sys- tem, the establishment of dynamics equations and the technolo- gy of modality comprehension etc.
出处
《机械设计》
CSCD
北大核心
2006年第3期1-4,共4页
Journal of Machine Design
关键词
柔性
空间展开机构
动力学建模
flexibility
spatial development mechanism
dynamics modeling
