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| 基于空间算子代数理论计算多体系统动力学建模 | |
| 引用本文： | 方喜峰,吴洪涛,刘云平,陆宇平,汪通悦.基于空间算子代数理论计算多体系统动力学建模[J].机械工程学报,2009,45(1). |
| 作者姓名： | 方喜峰 吴洪涛 刘云平 陆宇平 汪通悦 |
| 作者单位： | 1. 江苏科技大学机械与动力工程学院,镇江,212003 2. 南京航空航天大学机电工程学院,南京,210016 3. 南京航空航天大学航天学院,南京,210016 4. 淮阴工学院机械工程系,淮安,223001 |
| 基金项目： | 国家自然科学基金，国防预研重点基金，江苏省数字化制造技术重点实验室开放基金 |
| 摘 要： | 为了提高计算多体系统动力学正、反向动力学建模效率,应用空间算子代数理论,在通用计算机符号演算软件Mathematica6.0的环境下,对计算多体系统正、反向动力学进行设计与实现.广义质量是联系旋量力和旋量加速度的的重要参量,据此可形成正、反向动力学高效递推算法,用空间算子代数理论求出广义质量、正、反向动力学具有形式简洁、物理意义明确、编程效率高和直观等特征.运用VB.NET编程软件实现与Mathematica6.0软件无缝集成,对计算多体系统动力学仿真及正、反向动力学进行参数化分析与计算,给出编程实施过程及建模IDEF0方法.根据分析结果,对PUMA560机器人典型多体系统进行正、反向动力学建模,并与结果进行对比,通过算例验证结果的正确性和有效性. |
| 关 键 词： | 空间算子代数 正、反向动力学 广义质量 多体系统 建模 |
Computational Dynamics of Multi-body System Modeling Based on Spatial Operator Algebra Theory |
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| FANG Xifeng,WU Hongtao,LIU Yunping,LU Yuping,WANG Tongyue.Computational Dynamics of Multi-body System Modeling Based on Spatial Operator Algebra Theory[J].Chinese Journal of Mechanical Engineering,2009,45(1). | |
| Authors: | FANG Xifeng WU Hongtao LIU Yunping LU Yuping WANG Tongyue |
| Affiliation: | FANG Xifeng~1 WU Hongtao~2 LIU Yunping~2 LU Yuping~3 WANG Tongyue~4 1.Institute of Mechanical , Power Engineering,Jiangsu University of Science , Technology,Zhenjiang 212003,2.College of Mechanical , Electrical Engineering,Nanjing University of Aeronautics , Astronautics,Nanjing 210016,3.College of Astronautics,4.Department of Mechanical Engineering,Huaiyin Institute of Technology,Huaian 223001 |
| Abstract: | In order to improve the modeling efficiency for the forward and inverse computational dynamics of the multi-body system, the spatial operator algebra theory is adopted.The realization of the forward and inverse computational dynamics of the multi-body system procedure is built in the environment of Mathematica 6.0 software.The generalized mass is an important factor to link rotational force vectors and rotational acceleration vectors,and the high effective iterative method can be used to compute forward and... |
| Keywords: | Spatial operator algebra Forward and inverse dynamics Generalized mass Multi-body system Modeling |
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