多体动力学的休斯敦方法及其发展

介绍多体动力学休斯敦方法的核心内容（含低序体阵列、变换矩阵、广义坐标及其导数、运动参数计算和动力学方程等）及其发展,即柔性体的有限段方法及综合模态分析方法。将变形表示为二阶小量形式,基于小变形原理,适时进行线性化,以获取动力刚化项和一致线性化动力学方程。

Development of Huston's Method on Multibody Dynamics

A brief introduction to Huston's method on multibody dynamics, including lower numbered body array, transformation matrix, generalized coordinates and their derivatives, computation of kinematic parameters and dynamic equations was presented. Then,the development of finite segment method, combined modal analysis method and their application to beam-like bodies were introduced. The strain field was initially expressed in terms up to the second order in the deformation of points. Based on small deformation principle, equations were linearized at its convenience, the dynamic stiffness terms can be captured and consistent linearized dynamic equations can be obtained. Finally, the applications in the industrial robot, NC machine tool compensation technique, vibration control of flexible manipulator and flexible multibody system of acrospacecraft were introduced.