摘要
应用空间算子代数理论,在通用计算机符号演算软件Mathematic5.2的环境下,对多体系统动力学雅可比矩阵进行设计与实现,主要用于速度和静力的高效递推算法,用空间算子代数理论求出雅可比矩阵简洁形式,具有编程效率高、直观等特征。运用VB.NET编程软件实现与Mathematic5.2软件无缝集成,对多体系统动力学仿真及雅可比进行参数化分析与计算,给出了实施过程。根据分析结果,对Stanford机器人进行了雅可比设计,并与结果进行了对比,通过算例验证了结果的正确性和有效性。
The Jacobin matrix of the multi--body system dynamics was studied based on the spatial operator algebra theory, and the realization of the Jacobin matrix procedure was built in the environment of MatahematicS. 2 software. The high effective stepping method can be used to compute velocity and static force,and has a simple math expression. The software structure of the Jacobin was built and the multi--body system dynamics simulation model was realized based on the integrated procedure VB. NET and MathematicS. 2. According to the analysis, the example of Stanford robot Jacobin was studied, and correctness and validity was verified by computed examples.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第12期1429-1433,共5页
China Mechanical Engineering
