Automated setting of generalized forces in the symbolic form for the system of particles equivalent to the multibody system

摘要

In the present paper has been described a method for determination of a system of forces acting upon a system of particles, that system of forces being equivalent to the system of forces that act upon the system of rigid bodies, and having a geometry of masses equivalent to the said system of particles. Also, a geometrical procedure for the determination of generalized forces of the system is given. Final results are illustrated by a programme for automated determination of generalized forces in a symbolic form. That programme will be used to solve a concrete problem in the dynamics of robotic systems.