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空间算子代数理论是近几年发展起来的一种高效建模方法,应用空间算子代数方法可以对空间多体系统进行动力学建模、分析和仿真.首先通过引入6维矢量构建了单个刚体的空间矢量动力学方程,随后进一步建立了整个铰链体的逆动力学方程,并且通过将动力学方程投影到随动坐标系的方法进行了该逆动力学递推算法的软件实现.应用空间算子代数理论建立的逆动力学递推算法具有O(N)的计算量级.通过平面三连杆的典型算例的求解,与商业软件Recurdyn~@的仿真结果进行对比,验证了算法及软件实现的正确性.仿真结果表明,通过空间算子代数理论建立的逆动力学递推算法简单、计算精度及效率均能够满足工程需求,可应用于多体系统动力学的运动控制和轨迹优化设计中.
Spatial operator algebra theory is an efficient modeling method developed in recent years. The space operator algebra method can be used to model, analyze and simulate the dynamics of space multi-body system.Firstly, by introducing a 6-dimensional vector, a single Then, the inverse dynamic equation of the whole hinge body is further established and the software implementation of the inverse kinematics recursive algorithm is carried out by projecting the kinetic equation to the following coordinate system. The inverse kinematics recursive algorithm established by operator algebra theory has a computational order of O (N). By comparing with the simulation results of commercial software Recurdyn ~ @, a typical example of plane three-link is obtained and the results show that the algorithm The correctness of the software implementation.The simulation results show that the inverse kinematics recursive algorithm established by the space operator algebra theory is simple, the calculation accuracy and efficiency can meet the engineering requirements, and can be applied to the motion control and trajectory optimization of multi-body system dynamics designing.