空间柔性机械臂三维动力学数值仿真

本文应用ｄ＇Ａｌｅｍｂｅｒｔ－Ｌａｇｒａｎｇｅ原理，对由基座、（ｎ－１）个柔性连杆及端部负载组成，相互用柱铰连接的柔性链式多体系统进行建模；对在空间技术中，具有一刚杆，两柔杆加上刚性负载所组成的三维机械臂系统，采用Ｇｅａｒ算法进行数值仿真。仿真结果比较符合实际，从而在柔性多体系统的数学模型为刚性常微分方程的情况下，为解决其数值仿真问题，特别是三维问题的数值仿真取得了进展。

NUMERICAL SIMULATION OF 3-D DYNAMICS OF SPACE FLEXIBLE MANIPULATOR

in this paper, d'Alembert-Lagrange principle is used for modeling a system consisted of a base, (n-1) rods and a load at the tip which connects each other with hoes.Numerical simulation based on the Gear algorithm is applied to the 3-D manipulator system used in the space technology, which is consisted of one rigid rod, two flexible rods with rigid load.The results of numerical sedation are satisfactory. In the case when the mathematics model of the flexible multibody systems is corresponding to stiffness ordinary differential equations,the method for the solution of the numerical sedation of the flexible multibody systems,especially for the 3-D systems,can be applied effectively.