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Abstract:
This paper deals with formulation of dynamic equations for
multi-rigid-link multi-degree-of-freedom planar mechanical system,
holonomic and linear nonholonomic, in arbitrary topological
configuration (open-, close- or hybrid-chains). A new dynamic equation
with reaction forces and moments of joints which is a simple and unified
equation for vectorical and analytical mechanics is presented. These
equations are expressed in matrix form. It brings up a dynamical model
of overlapping sub-kinematic-chains so that using velocity and
accelaration analysis of the system with specifying certain motion
inputs, the equivalent dynamic decomposition of the system can be
carried out. Amount of computer operations for automatic generation of
dynamic equationg briefly depends on kinds of structural units (such as:
link-joint, tree-cotree, and singe-opened-chain, etc.) and topological
characteristics of a system. After comparing them, the approach by means
of order-single-opened chain[18] is better. Esp. It can be carried out
directly for untree shaped system without cutting any joint or body.
Key words:
动力学 机械系统 拓扑
国家自然科学基金资助项目. Received
199002, received in revised form 199005
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