多挠体系统运动学和动力学模型的线性化方法

THE RTHOD OF LINEARIZATION OF KINEMATIC AND DYNAMIC MODEL OF FLEXIBLF MULTI-BODY SYSTEM

A new concept of Linearizing the kinematic model of flexible multi-body system is proposed, the linear equation of the kinematic model of flexible multibody system is derived by analyzing the space open-chained mechanism model, this paper also presents the method of evaluating the accuracy of the linearized kinematic model, in the same time according to tne linearized kinematic model and general dynamic equation, a set of time-varying linear dynamic differential equations with ihe microdisplacements as the only general coordinates are deduced when displacement of rigid body is uncoupled with the elastic microdisplacement. Taking the 2-link lianar elastic arm as example, tne comparison witn ihe experimental results shows the simplicity, effectiveness and exactness of the method.