关键词: 动力学, 受约束多体系统, 计算机辅助分析, 奇异值分解

Abstract: An efficient recursive algorithm for computer-aided dynamic analysis of -constrained multibody systems is described. The algorithm is based on the Newton-Euler method. Dynamic differential equations can be constructed by computation of indirect problems of dynamics rather than derivation of analytic explicit expressions of these equations. The constrained equations can be easily obtained with neither derivation of explicit expression nor any differentiation. A singular value decomposition (SVD) reductive method is applied to reducing and solving dynamic differential equations of constrained multibody systems so that the constrained forces,moments can be avoided. With the use of many results from the corresponding open-loop system the additional computation for a constrained system is very small. The ADAMS predictor-corrector numerical integration algorithm is adopted for integration of the dynamic differential equations. Besides, a general purpose FORTRAN program CADACMS has been developed for computer-aided dynamic analysis of constrained multibody systems. A satisfactory results is obtained for a 5-link driven chain .as a numerical example.

Key words: dynamics, constrained multibody system, computer-aided analysis, singularvalue decomposition.