| 欠驱动漂浮基空间多体系统的递推动力学 |
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| 引用本文： | 邵兵,吴洪涛,程世利.欠驱动漂浮基空间多体系统的递推动力学[J].中国科学院研究生院学报,2009,26(5):609-614. |
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| 作者姓名： | 邵兵 吴洪涛 程世利 |
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| 作者单位： | 南京航空航天大学机电学院,南京,210016 |
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| 基金项目： | 国家自然科学基金项目，民用航天"十一五"预研项目资助 |
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| 摘 要： | 针对欠驱动漂浮基空间多体系统,将欠驱动关节分解为主动和被动关节,研究用李群和李代数表示其动力学问题.将牛顿-欧拉反向动力学方法推广到适合于含主被动关节的形式,同时得到了漂浮基空间多体系统的主被动关节递推动力学建模方法.该方法可以用于对链式、树形拓扑结构的空间系统建模,也可用于对采用有限段方法建立的柔性梁式构件的离散模型进行高效率递推计算.结果表明,用李群李代数理论中的方法和符号更有助于形成递推的高效动力学建模,得到的动力学公式简明、清晰.
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| 关 键 词： | 漂浮基空间多体系统 动力学 李群李代数 递推算法 欠驱动 |
| 收稿时间： | 2009-03-19 |
| 修稿时间： | 2009-04-20 |
Recursive dynamics of under-actuated free flying multibody systems |
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| SHAO Bing,WU Hong-Tao,CHENG Shi-Li.Recursive dynamics of under-actuated free flying multibody systems[J].Journal of the Graduate School of the Chinese Academy of Sciences,2009,26(5):609-614. |
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| Authors: | SHAO Bing WU Hong-Tao CHENG Shi-Li |
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| Institution: | College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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| Abstract: | Lie group and Lie algebra are used to research the dynamics of under-actuated free flying multibody systems. The under-actuated joints are decomposed into component active and passive joints. The Newton-Euler inverse dynamics is promoted to contain the active and passive joints. At the same time, the dynamical modeling method of space systems with active and passive joints is built. This method can be used to model chain and tree topology space systems. It can also be used to model beam-like flexible multibody systems which are established by finite segment method with high efficiency. Results show that the dynamics described with Lie group and Lie algebra are helpful in highly efficient dynamics modeling. The dynamical expressions are concise and clear. |
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| Keywords: | under-actuated free flying multibody systems dynamics Lie groups and Lie algebras recursive algorithm under-actuated |
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