| 用变分原理研究多刚体系统动力学方程 |
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| 引用本文： | 孙右烈.用变分原理研究多刚体系统动力学方程[J].上海大学学报(英文版),2003,7(2):131-137. |
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| 作者姓名： | 孙右烈 |
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| 作者单位： | SchoolofElectromechanicalEngineeringandAutomation ShanghaiUniversity，Shanghai200072，China |
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| 摘 要： | 1 Introduction Openchainsystemsoropentreesystemsarethetypicalusefulmultibodysystems .Theymaybemod eledsimplyasasetofrigidbodiesconnectedwithsphericaljoints ,withnoclosedloops.Atypicalmulti bodysystemisshowninFig .1.R .Hustonhasmadeathoroughstudyonsuchkindofmultibodysys tem1,2 ] .Hehasproposed“bodyconnectionarray”todefinetheconnectionconfigurationandgivenasetofequationsofmotionandconductedtheautomatednu mericalanalysesofthemotionofsystem .Fig .1 AMultibodySystem Thispaperdealswiththe…
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| 关 键 词： | 多体动力学 变分原理 联络矩阵 动力学方程 |
| 收稿时间： | 12 July 2002 |
Multibody dynamics formulations based on variational principle |
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| Sun You-Lie.Multibody dynamics formulations based on variational principle[J].Journal of Shanghai University(English Edition),2003,7(2):131-137. |
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| Authors: | Sun You-Lie |
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| Institution: | School of Electromechanical Engineering and Automation , Shanghai University, Shanghai 200072, China |
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| Abstract: | The formulation of multibody dynamics was studied based on variational principle. The body coonection matrix was introduced to define the connection configuration. The expression for the system kinematics was obtained by using the body connection matrix. From variational principle the general dynamical equations for multibody system were derived and the dynamical equations were given for multibody system subjected to the constraints. |
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| Keywords: | multibody system connection matrix variational principle dynamical equations |
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