摘要
本文以Ｋａｎｅ方程为基础，建立了具有力约束的多体系统动力学方程，以能量最小为优化目标，实现了动力学解算。以工业机器人为例，进行了动力学分析和解算。
In this paper, the dynamic equations of multibody system with force constraint are established based on Kane's equation. Take minimum energy as the optimum goal the dynamic solution has been achieved. Using an industrial robot as an example the dynamic analysis and solution have been carried out.
出处
《机械设计》
CSCD
北大核心
1996年第4期12-13,19,共3页
Journal of Machine Design
基金
国家自然科学基金
关键词
机械动力学
多体系统动力学
约束力
Multibody system
Force constraint
Dynamic optimization
