| 引用本文: | 金梁,Helmut F.Bauer.树形挠性多体系统的 Kane 动力学方程 ——一种面向计算机的建模方法.[J].国防科技大学学报,1991,13(3):10-17.[点击复制] |
| Jin Liang,Helmut F.Bauer.Kane's Equations of Flexible Multibody Systems with Tree Structure—— A Computer-Oriented Modeling Approach[J].Journal of National University of Defense Technology,1991,13(3):10-17[点击复制] |
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| 树形挠性多体系统的 Kane 动力学方程 ——一种面向计算机的建模方法 |
| 金梁1, Helmut F.Bauer2 |
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(1.国防科技大学;2.西德国防大学)
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| 摘要: |
| 本文针对具有树形结构的空间挠性多体系统，建立了Kane 动力学模型。挠性多体系统由任意数目的挠性体或刚体组成，假定铰链点之间具有三自由度相对转动和平动，选取相对平动速度和转动角速度，以及模态坐标的导数为系统的广义速度，建立了系统的最小维数运动方程。所得结果便于计算机自动生成和进行数值仿真。 |
| 关键词: 挠性多体，广义速度，Kane方法，运动方程 |
| DOI： |
| 投稿日期：1990-05-05 |
| 基金项目: |
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| Kane's Equations of Flexible Multibody Systems with Tree Structure—— A Computer-Oriented Modeling Approach |
| Jin Liang1, Helmut F.Bauer2 |
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(1.National University of Defense Technology;2.Universitat de Bundeswehr Munchen)
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| Abstract: |
| The Kane's dynamical model of flexible multibody space systems with tree structure is developed in this paper. The system topology is restricted to a tree configuration，which is defined as an arbitrary set of flexible and rigid bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The relative translatioal velocities，angular velocities，and the differential of model coordinates are selected as the generalized velocities. The motion equations of minimum dimension are derived via Kane's method. The resulting equations are suitable for automatic generation，and simulated by computer. |
| Keywords: flexible multibody systems,generalized velocities,Kane's method,motion equations |
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