柔性多体动力学的建模与计算

本文在对柔性多体动力学发展略作回顾的基础上，采用ｄ＇Ａｌｅｍｂｅｒｔ－Ｌａｇｒａｎｓｅ原理，对由基座、（ｎ－１）个柔性连杆及端部负载组成、相互之间由柱铰联结的柔性链式多体系统进行理论建模；柔性杆模态取三维梁单元进行有限元离散；算法上选用Ｇｅａｒ算法克服柔体动力学微分方程的刚性（Ｓｔｉｆｆｎｅｓｓ）问题。成功地进行了一种工况的失重柔性机械臂的动力学数值计算，为在其上进一步实施控制打下了良好的基础。

The Modeling and Calculating for the Flexible Multibody System Dynamics

In this paper,above the introduction to the development of the flexible multibody system dynamics,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 hings.In FEM modal analysis,the 3-dimensions beam element is adopted to get discret model.The GEAR algorithm is employed to ovetcome the difficulty for stiff ordinary differential equations in the flexible multibody system.The examples is successfully calculated.The work in this paper would be a good foundation for the control.