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由本文获得之动力学,控制方程物理意义明显直观,并使程序也规范方便,使多体力学三种典型运动之错综耦合,一目了然。文中约束关系复杂,对之作了重点的妥善处理。对于困难的Stiff方程,建议了有效的Gear解法。对结果除四点分析外,并对挠臂非自然坐标向自然坐标参数方程转换之可能性作了估计分析。此外对未实践可能出现的中曲率挠臂中之非线性因素及其麻烦作了分析。
The kinematics obtained from this paper shows that the physical meaning of the control equation is obvious and intuitive, and the program is also convenient and convenient. The three kinds of typical multi-body mechanics are intricate coupling at a glance. In the paper, the relationship between the parties is complicated and the key points are properly dealt with. For difficult Stiff equations, a valid Gear solution is suggested. In addition to the four-point analysis of the results, an analysis was made on the possibility of converting the non-natural coordinate of the flexible arm to the natural coordinate parameter equation. In addition, the non-linear factors and their troubles in the curl arms that may appear in practice are analyzed.