DYNAMICS OF FLEXIBLE MULTIBODY SYSTEMS WITH TREE TOPOLOGIES

【摘要】 <正> The dynamic equations of flexible multibody systems with tree topological configuration are de-rived by using the Jourdain’s principle.The independent joint coordinates are introduced to describe the largedisplacements of the bodies,and the modal coordinates are used to describe small deformations of flexiblebodies based on the consistent mass finite element method and normal vibration mode analysis.The mini-mum differential equations are developed,which are compatible with the equations of multi-rigid body sys-tems or structural dynamics.The stiff problem in the numerical integration is thus alleviated effectively.Themethod used in this paper can be extended to deal with systems with other topological configurations.Finally,the validity and feasibility of the presented mathematical model are demonstrated by a numerical ex-ample of a manipulator with two elastic links.更多还原

【Abstract】 The dynamic equations of flexible multibody systems with tree topological configuration are de- rived by using the Jourdain’s principle.The independent joint coordinates are introduced to describe the large displacements of the bodies,and the modal coordinates are used to describe small deformations of flexible bodies based on the consistent mass finite element method and normal vibration mode analysis.The mini- mum differential equations are developed,which are compatible with the equations of multi-rigid body sys- tems or structural dynamics.The stiff problem in the numerical integration is thus alleviated effectively.The method used in this paper can be extended to deal with systems with other topological configurations. Finally,the validity and feasibility of the presented mathematical model are demonstrated by a numerical ex- ample of a manipulator with two elastic links.更多还原