| 具有力约束的多体系统动力学优化方法的研究 |
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| 引用本文： | 王树新 刘又午. 具有力约束的多体系统动力学优化方法的研究[J]. 机械设计, 1996, 13(4): 12-13,19 |
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| 作者姓名： | 王树新 刘又午 |
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| 作者单位： | 天津大学 |
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| 摘 要： | 本文以Ｋａｎｅ方程为基础，建立了具有力约束的多体系统动力学方程，以能量最小为优化目标，实现了动力学解算。以工业机器人为例，进行了动力学分析和解算。
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| 关 键 词： | 机械动力学 多体系统动力学 约束力 |
Studies on the method of dynamic optimization of multibody system with force constraint |
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| Wang Shuxin, Liu Youwu, Zhou Daning. Studies on the method of dynamic optimization of multibody system with force constraint[J]. Journal of Machine Design, 1996, 13(4): 12-13,19 |
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| Authors: | Wang Shuxin Liu Youwu Zhou Daning |
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| Affiliation: | Tianjin University |
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| Abstract: | In this paper, the dynamic equations of multibody system with force constraint are established based on Kane's equation. Take minimum energy as the optimum goal the dynamic solution has been achieved. Using an industrial robot as an example the dynamic analysis and solution have been carried out. |
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| Keywords: | Multibody system Force constraint Dynamic optimization |
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