【作者】 刘贤喜；

【导师】 周一鸣；

【作者基本信息】 中国农业大学 ， 车辆工程， 2001， 博士

【摘要】 机械系统虚拟样机技术是一门综合多学科的新技术，该技术以机械系统运动学和动力学理论为核心。借助于这项技术，工程师们可以在计算机上建立机械系统的模型，伴之以有效的数值算法、成熟的三维可视化技术以及标准的图形用户界面，模拟在现实环境下机械系统的运动学和动力学特性，并根据仿真结果改进或优化机械系统的设计方案与工作过程，帮助企业最大限度地减少物理样机的试制次数，从而缩短设计和生产周期，降低成本，提高产品质量。 本课题在机械系统虚拟样机仿真软件原型研究的基础上，围绕着研制开发一套面向我国中、小型机械企业，由中、高级工程技术人员使用，具有自主版权，基于图形的中文用户界面，便于普及推广的实用化的机械系统虚拟样机仿真分析软件系统所面临的理论和实现原则等问题而进行研究。 阐述了机械系统虚拟样机技术的概念及其应用；提出了对机械系统虚拟样机进行实用化研究的基本内涵，分析了开发实用化机械系统虚拟样机仿真软件的技术要点。将面向对象技术的思想、理论和方法应用于机械系统虚拟样机技术的研究中，对机械系统虚拟样机仿真软件进行了较为完整的面向对象的分析，采用软件原型法与面向对象技术相结合的方法对机械系统虚拟样机仿真软件进行了实用化开发研究，为大型复杂软件的开发提供了一条新思路。 运用图论的方法，分析了树型和非树型机械系统的拓扑图的构成；采用凯恩——修斯顿相结合的多刚体系统动力学方法，推导并建立了具有普遍适用范围、高度形式化、面向计算机编程求解的机械系统动力学模型，进一步讨论了非树型系统的动力学建模与算法问题， 采用面向对象的程序设计方法和基于模板的数据结构技术，完善并优化了基于图的机械系统虚拟样机的数据存储结构，使机械系统的拓扑结构与其数据存储结构和谐统一；新添了圆柱副、平面副、万向节、齿轮齿条副、螺纹副等约束、单部件力、弹簧阻尼、力矢量和力矩矢量的建模与仿真，增加了轮廓简图、圆柱体、块体、台体等构件的几何形体以及Request曲线数据文件输出等功能，重新设计并改进了对ADM、REQ和RES等数据文件的读写功能，增强了组件独立运行的稳定性，实现了组件间的可靠连接。 在基于Windows NT平台的PC机上，对机械系统虚拟样机仿真软件的前处理、求解器以及后处理各组件统一进行了实用化研究，开发了机械系统虚拟样机（Mechanical System Virtual Prototyping，简称MSVP）仿真软件的实用化版本；通过几个典型实例对MSVP进行了初步验证，并与ADAMS仿真结果进行了对比分析，结果表明：MSVP操作方便，运行稳定，结果正确，初步达到了实用化的要求。更多还原

【Abstract】 The mechanical system virtual prototyping technology is a new technology which synthesize many sciences, and its kernel is kinematics and dynamics theory of. the mechanical system Using to the new technology , engineers can build system model in computer, and simulate the characteristic of kinematics and dynamics of mechanical system on realistic condition, by the valid numeric algorithm, well-round three dimension visualization technology and standard GUI technology. According to the analysis results, engineers can improve or optimize mechanical systems?designing projects and its running process. The mechanical system virtual prototyping technology can help enterprises to reduce the trial-manufacture times of physical prototyping, so that can shorten periods of designing and producing, consequently reduce the costs and improve the quality of products.Based on the software prototype of mechanical virtual prototyping, the theory and technique about developing a practicable version of mechanical system virtual prototyping simulation sofeware, for small and medium-sized mechanical enterprises, with independent copyright and Chinese GUI, is studied.,The concept and application of mechanical system virtual prototyping technology is expounded. The basic meaning and the technical key points for the practicable simulation software of mechanical system virtual prototyping are proposed and analysed. Combined with the method of software prototype and the technology of object-oriented, the practicable software of mechanical system virtual prototyping is studied and developed. A new way for the development of complicate software is opened.Applied the graph theory, the topological structure of tree type and none-tree type mechanical system is analysed. With the combining of Kane-Huston method, the dynamics model of mechanical system which is generally practicable, formalized greatly, and oriented computer programming is built. The arithmetic and model-built about none-tree mechanical system dynamics is discussed more.Adopting the object-oriented design method and the data structure with template technology, the data structure graphics of mechanical system virtual prototyping is consummated. Thus the topological structure of mechanical system matchs the data structure graphics. The model-building and simulation of cylindrical-joint, planar-joint, universal and hooke-joint, rack and pinion-joint, screw joint, single component force, spring-damper, vector force and vector torque are added. Some geometrical body of part, for example, outline, cylinder, box frustum are added. And the request data files are exported. The read and write function for ADM, REQ and RES files are redesigned. The stability and credibility of the mechanicalsystem virtual prototyping simulation software is enhanced.Based on Windows NT platform, the practicable software of mechanical system virtual prototyping which include preprocessing, solver and postprocessing are studied. The practicable version of mechanical system virtual prototyping (MSVP) is developed. MSVP is compared to ADAMS by some typical examples. The results show that the MSVP system is convenient, steady and the output is right. The practicability of the MSVP is satisfactory.更多还原