【摘要】 为了提高计算多体系统动力学正、反向动力学建模效率,应用空间算子代数理论,在通用计算机符号演算软件Mathematica6.0的环境下,对计算多体系统正、反向动力学进行设计与实现。广义质量是联系旋量力和旋量加速度的的重要参量,据此可形成正、反向动力学高效递推算法,用空间算子代数理论求出广义质量、正、反向动力学具有形式简洁、物理意义明确、编程效率高和直观等特征。运用VB.NET编程软件实现与Mathematica6.0软件无缝集成,对计算多体系统动力学仿真及正、反向动力学进行参数化分析与计算,给出编程实施过程及建模IDEFO方法。根据分析结果,对PUMA560机器人典型多体系统进行正、反向动力学建模,并与结果进行对比,通过算例验证结果的正确性和有效性。更多还原

【Abstract】 In order to improve the modeling efficiency for the forward and inverse computational dynamics of the multi-body system, the spatial operator algebra theory is adopted.The realization of the forward and inverse computational dynamics of the multi-body system procedure is built in the environment of Mathematica 6.0 software.The generalized mass is an important factor to link rotational force vectors and rotational acceleration vectors,and the high effective iterative method can be used to compute forward and inverse dynamics.The equation for the generalized mass,forward and inverse dynamics based on the spatial operator algebra theory,has a simple math expression and a clear physical meaning.The software structure of the forward and inverse dynamics is built,the modeling for the IDEF0 method is presented and the multi-body system computational dynamics parameter simulation model is realized on the basic of integrated procedure VB.NET and Mathematica 6.0.According to the analysis,the multi-body system of PUMA560 robot forward and inverse dynamics is studied,and correctness and validity is verified by the computed examples.更多还原