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本文针对树形铰连接多刚体系统,应用动力学基本定理,采取对铰连接取矩的办法,消除铰的约束力,得到直接建立在基本的动力学量基础上的动力学方程组。从而避免了由于直接应用质心运动定理和相对于质心的动量距定理所带来的消除约束力的烦琐步骤,以及在方程中出现的增广体的一系列表示式。使多刚体系动力学方程式趋于简化。文中还用列表的办法建立动力学方程作了尝试。以便于实际的应用。
In this paper, aiming at the multi-rigid-body system with tree-shaped hinge, applying the basic theorem of dynamics, taking the method of taking the moment of hinge connection and eliminating the restraint force of the hinge, the dynamic equations based on the basic dynamic quantities are obtained. Thereby avoiding the tedious steps of eliminating binding due to the direct application of the centroid motion theorem and the momentum theorem relative to the centroid, and a series of representations of the augment body appearing in the equation. The multi-rigid system kinetic equation tends to be simplified. The article also made a list of ways to establish the kinetic equation made an attempt. In order to practical application.