修正的Craig-Bampton方法在多体系统动力学建模中的应用

针对空间实验室、柔性机械臂等柔性多体系统，借助结构动力学中的Craig-Bampton模态综合方法，对其进行修改并用于描述弹性变形，将模态综合方法和多体系统建模常用的混合坐标法相结合，以适合刚体运动与弹性运动的耦合，更好地反映了系统的动力学特性。结合ADAMS、ANSYS软件，可充分利用该方法对柔性多体系统进行计算机仿真分析，进而进行优化设计等。

Application of a modified Craig-Bampton method in dynamics modeling of multi-body system

With the aid of Craig-Bampton modality synthetic method to carry out modification and being applied to describe elastic deformation upon flexible multi-body system such as space laboratory, flexible mechanical arm and so on. Let the modality synthetic method be combined with the commonly used hybrid coordinative method in multi-body system modeling, so as to suit the coupling of rigid-body movement with elastic movement, which could reflect the dynamic characteristics of the system all the better. With the combination of ADAMS, ANSYS software, this method can be used to carrying out the computer simulation analysis on the flexible multi-body system, and proceed to conduct the optimization design and so on.