求解非线性链式结构瞬态响应的传递矩阵方法

基于传统的传递矩阵方法与数值积分和ＮｅｗｔｏｎＲａｐｈｓｏｎ迭代法，提出了可迭代增量传递矩阵，用于求解具有大运动、非线性特征的链式多体系统瞬态响应；它包括增量传递矩阵和ＮＲ迭代传递矩阵；由增量传递矩阵得到时程积分每一瞬时状态量；由ＮＲ迭代传递矩阵得到该瞬时提高精度的解。该文以一链式多体系统为例说明该方法的建模、计算过程。最后，以一个平面四杆机械臂为算例将本文方法与逐步积分法所得结果作了比较，验证了该方法的可行性。

Transfer Matrix Method for Transient Response of Nonlinear Chainlike System

Based on the conventional transfer matrix method, time integration procedures of differential equation and Neton Rephson iteration for nonlinear equation, this paper presents an iterative incremental transfer matrix method for transient response analysis of chainlike multi body system with the characteristics of large motion and nonlinearity. This transfer matrix is composed of incremental discrete time transfer matrix and N R iterative transfer matrix. At each time step, the displacement vector is approximated by incremental discrete time transfer matrix and the correction to the solution is obtained by solving the nonlinear dynamic equilibrium equation by the N R iterative transfer matrix. As an example, the modeling procedure and calculating formulation of the chainlike multi body system are illustrated in this paper. Finally, compared with the time integration, the viability of this method is checked by a numerical example of a four linkage mechanism.