摘要
在求解多刚体系统中任意刚体的绝对角速度等运动量时 ,需要对指定刚体到零刚体的路径上所有刚体的某一物理量作求和运算。某一刚体到零刚体的路径长度直接影响着该刚体运动学分析计算量的大小。对有回路的无根多刚体系统 ,寻找最优的派生树系统 ,恰当选择与零刚体直接相连的刚体 ,可以使零刚体到所有刚体的路径长度总和为最小 ,最大限度减小动力分析的计算量。首次就这一优化问题使用图论方法进行了分析 ,提出了解决办法。结合一个简单实例 。
While solving the motion quantity such as absolute angular velocity of arbitrary rigidbody in multi-rigidbody system, it is necessary to make summing up calculations upon certain physical quantity of all rigidbodies located along the path from the specified rigidbody to zero-rigidbody. The length of path from specified rigidbody to zero-rigidbody influences directly upon the amount of dynamics analytical calculations of that rigidbody. For rootless multi-rigidbody system with loop, to find the optimal derivation tree and choose appropriately the rigidbody linked together directly with zero-rigidbody can let the length summation of path from zero-rigidbody to all other rigidbodies be a minimum, and the amount of calculations of dynamic analysis can be reduced to a maximum limit. By the use of graph theory method the solving means has been put forward for the first time to carrying out analysis with regard to this optimization problem. Combined with a simple example, the process of optimization treatment for graph theory description on rootless multi-rigidbody system with loop was elaborated.
出处
《机械设计》
CSCD
北大核心
2003年第8期37-40,共4页
Journal of Machine Design
关键词
多刚体系统
图论
选址问题
最短路径生成树
优化
multi-rigidbody system
graph theory
location problem
shortest-path spanning tree
