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平面多体系统动力学计算机仿真向量键合图法

王中双 徐长顺 吕航

王中双, 徐长顺, 吕航. 平面多体系统动力学计算机仿真向量键合图法[J]. 机械科学与技术, 2018, 37(3): 402-408. doi: 10.13433/j.cnki.1003-8728.2018.0312
引用本文: 王中双, 徐长顺, 吕航. 平面多体系统动力学计算机仿真向量键合图法[J]. 机械科学与技术, 2018, 37(3): 402-408. doi: 10.13433/j.cnki.1003-8728.2018.0312
Wang Zhongshuang, Xu Changshun, . A Vector Bond Graph Method for Computer Simulation of Planar Multibody System Dynamics[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(3): 402-408. doi: 10.13433/j.cnki.1003-8728.2018.0312
Citation: Wang Zhongshuang, Xu Changshun, . A Vector Bond Graph Method for Computer Simulation of Planar Multibody System Dynamics[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(3): 402-408. doi: 10.13433/j.cnki.1003-8728.2018.0312

平面多体系统动力学计算机仿真向量键合图法

doi: 10.13433/j.cnki.1003-8728.2018.0312
基金项目: 

国家自然科学基金项目(51175272)资助

详细信息
    作者简介:

    王中双(1962-),教授,硕士生导师,博士,研究方向为基于键合图的机械系统动力学建模、仿真与优化,wzhsh1962@163.com

A Vector Bond Graph Method for Computer Simulation of Planar Multibody System Dynamics

  • 摘要: 为提高平面多体系统动力学计算机仿真的效率及可靠性,提出了相应的向量键合图法。由系统向量键合图模型基本场及结型结构的输入、输出向量间的代数关系,推导出便于计算机自动建立的系统状态方程及运动副约束反力方程的统一公式。根据运动约束关系,将平面运动构件及旋转铰的向量键合图模型组合起来,建立了3-RRR型平面并联机器人机构的向量键合图模型。通过有效的解耦方法,解决了微分因果关系及非线性结型结构给该类机构动力学计算机仿真所带来的代数困难。在此基础上,实现了3-RRR型平面并联机器人机构的计算机自动建模与仿真,验证了所述方法的可靠性及有效性。
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出版历程
  • 收稿日期:  2017-06-09
  • 刊出日期:  2018-03-05

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