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題名 | Recursive Method for the Dynamic Analysis of Open-loop Flexible Multibody Systems=開迴路多聯體撓性系統的遞迴動力分析法 |
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作者 | 黃運琳; 王悅真; | 書刊名 | 國立虎尾技術學院學報 |
卷期 | 5 2002.03[民91.03] |
頁次 | 頁97-106 |
分類號 | 446.11 |
關鍵詞 | 遞迴動力分析法; 開迴路; 多聯體撓性系統; 牛頓-尤拉通用方程式; Recursive method; Open-loop; Flexible multibody systems; Generalized Newton-Euler equations; |
語文 | 英文(English) |
中文摘要 | 一般而言,機械系統主要區分為兩類:開迴路與閉迴路系統。本文針對開迴路撓性多聯體提出一種遞迴動力分析法,並且運用牛頓-尤拉通用方程式於大位移與大旋轉的撓性物體中,而這些方程式以及物體間的聯結是以空間座標系與假設位移的時間慣量來表示。吾人可以推導出運用牛頓-尤拉法遞迴特性的一組稀疏運動方程式,再利用數值分析法於電腦上有效地求得這組方程式的解。本研究分析是以圓柱接頭為基礎,亦可推展至旋轉接頭、滑動接頭與剛性接頭等。本文將以一個數值分析的範例來說明所發展出的遞迴動力分析法。 |
英文摘要 | Generally speaking, the mechanical systems can be classified into two main groups: open-loop and closed-loop systems. In this investigation, a recursive method is developed for the dynamic analysis of open-loop flexible systems. The nonlinear generalized Newton-Euler equations are developed for flexible bodies that undergo large translational and rotational displacements. These equations are formulated in terms of a set of time invariant scalars, vectors and matrices that depend on the spatial coordinates as well as the assumed displacement fields, and these time invariant quantities represent the dynamic coupling between the rigid body motion and elastic deformation. The method to solve equations of motion for open-loop systems consisting of interconnected rigid and flexible bodies is presented in this paper. This method applies recursive method with the Newton-Euler method for flexible bodies to acquire a large, loosely coupled system equations of motion. The solution techniques used to solve for the system equations of motion can be more efficiently implemented in the vector or digital computer systems. The algorithms presented in this investigation are illustrated by using cylindrical joints that can be easily extended to revolute, slider and rigid joints. The basic recursive formulations developed in this paper are demonstrated by a numerical example. |
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