【摘要】 本文以递推形式给出了挠性多体系统的动力学方程。此方程具有如下特点:(1)对整个系统而言,方程数目多,但递推的每一步只需要解低维的方程组,从而避免了高维矩阵的求逆,减少了计算量。(2)对不同类型的问题,方程形式具有很高的相似性,便于程序编制,各个需要求逆的矩阵都是对称正定的,这样减少了计算量和计算机内存单元。(3)这种方程形式处理非树形和带有约束条件的系统很方便。更多还原

【Abstract】 In this paper, dynamical equations of flexible multibody systems are formulated on the basis of the principle of velocity variation. The form of equations has advantage over other methods. With this form of equations, numerical solutions of flexible multibody systems can be carried out recursivly layer by layer. In every step of these recursions, only a small symmetric and positive definite matrix is inversed. So this form of equations needs much lesser computation time than other methods. The form of equations is similiar for systems of tree structure and nontree structure. It is especially convenient to deal with systems with constraints by this form of equations. Finally, as and example, the equations of a three body flexible manipulator is given out here.更多还原