【摘要】 为了提高多体系统动力学广义质量建模效率,运用空间算子代数(spatial operator algebra,SOA)理论,在计算机符号演算软件Mathematica6.0的环境下,对广义质量进行高效率递推设计与实现.采用SOA空间递推方式,形成了广义质量的高效递推算法.运用VB.NET编程软件实现与Mathematica6.0软件无缝集成,对多体系统动力学广义质量进行建模分析,给出了实施过程.结合实例对PUMA560机器人进行了广义质量设计,并与结果进行了对比,通过算例验证了程序建模的正确性和高效性.更多还原

【Abstract】 To improve the generalized mass modeling efficiency of multi-body system dynamics,the recursive design and realization of the generalized mass procedure was built in the environment of software Matahematica6.0 by use of the spatial operator algebra(SOA) theory.Based on the SOA recursive mode,the recursive algorithm with high efficiency for the generalized mass was thus generated.The seamless integration with software Mathematica6.0 was realized by use of the programming software VB.NET.The modeling of the generalized mass of multi-body system dynamics was analyzed,and the implementation procedure was also given. A design case of the generalized mass for robot PUMA560 was studied and was compared with the results.The correctness and efficiency of modeling was verified.更多还原