【摘要】 阐述了航天多铰接机械系统类型及其相关的动力学建模方法。基于 Dubowsky间隙的本构关系 ,构造了间隙连接数学模型。将几何约束转化为力约束 ,进一步建立系统的结构动力学方程和多体动力学方程 ,以解决系统作为机构时的展开运动分析 ,以及展开后系统作为结构运行时的动力学预测。对这类系统动力学模型降阶、运动诱导刚度、控制结构一体化设计等关键问题进行了研究更多还原

【Abstract】 The types of space multi joint mechanical systems and related dynamic modeling methods have been set forth. Based on Dubowsky clearance’s description, a clearance model was developed, that is, the geometry constraints of the clearance are transformed into the force ones. Furthermore, the dynamic equations for structure and multi body systems were derived, which can solve dynamic problems of multi joint mechanical systems as space mechanisms or structure systems. Some key techniques such as droping order of the equations, motion inducing stiffness of flexible bodies, control structure synthesizing design for the space mechanical systems have been studied in detail.更多还原