摘要
本文以多刚体动力学Kane方程的基本形式为出发点,通过对该方程的重新描述,编制了通用的自动建立动力学方程程序。对于一般多刚体系统,只要输入基本力学量就能由计算机完成动力学方程的推导,并输出易于数值解法的Fortran语言格式程序,避免了大量的手工推导工作,尤其对大自由度系统更能显示其方便性。
This paper is based on the basic form of the Kane equation in multi-rigid body dynam- ics. With recoding the Kane equation, a versatile program to establish automatically dynamic equation is created. For the general multi-rigid body systems, the computer can deduce the dynamic equations by inputting the basic dynamic values and can output the format program in Fortran language to be easy of numerical solution. The manual deduction is avoided. Especially, the method is convenient for the systems with many degrees of freedom.
关键词
多刚体动力学
符号运算
KANE方程
multi-rigid body dynamics
Kane equation
symbol operation
computer language
