Study on Dynamics of Controlled Multibody System with Branch Based on Transfer Matrix Method of Controlled Multibody System

摘要

The dynamics of controlled multibody system with branch is studied by controlled multibody system transfer matrices method in this paper. The different locations of control actuator element and control feedback element make the transfer equation of controlled multibody system with branch is differ from chain systems. The transfer matrices of control actuator element, control feedback element, other elements and overall transfer matrices of the controlled multibody system with branch control model are developed. The motions of controlled multibody system are computed using controlled multibody system transfer matrix method. The computation shown that the results get by controlled multibody system transfer matrix method is effective.