摘要
介绍多体系统动力学的休斯敦方法及其发展。重点介绍在机械工程领域的应用和取得的成果。首先是工业机器人的时间域和频率域分析。其次是数控机床全误差模型的建立 ,误差参数辨识和软件补偿的实现。而后是柔性机械臂的振动控制。最后是可用于航天器的具有大范围运动的柔性体动力学分析。通过实践 。
The method of Huston on multibody system dynamics and its development were introduced. The applications and achievements in the field of mechanical engineering were emphasized. Firstly, industrial robot was analyzed in the time and frequency domain. Secondly, total error models for an NC machine tool, were developed, the error parameters were identified and the software error compensation was accomplished. Then, the vibration control of flexible manipulator was realized. Finally, the dynamics of flexible body with large overall motion, which can be used in aerospacecraft, was analyzed. The multibody system dynamics for rigid body as well as flexible body was developed through author′s practice.
出处
《中国机械工程》
CAS
CSCD
北大核心
2000年第1期144-149,共6页
China Mechanical Engineering
基金
国家"九五"攀登计划预选项目 !( PD95 2 1910 )
教育部高等学校博士点学科专项科研基金资助项目
关键词
多体动力学
机械工程
数控机床
航天器
机器人
multibody dynamics
rigid and flexible body
application on mechanical engineering
NC machine tool
aerospacecraft
robot and manipulator
