Dynamics of Deformable Multibody Systems Using Recursive Projection Methods.

摘要

In this investigation, generalized Newton-Euler equations are developed for deformable bodies that undergo large translational and rotational displacements. The configuration of the deformable body is identified using coupled sets of reference and elastic variables. The nonlinear generalized Newton-Euler equations are formulated in terms of a set of time invariant scalars and matrices that depend on the spatial coordinates as well as the assumed displacement field. These time-invariant quantities appear in the nonlinear terms that represent the dynamic coupling between the rigid body modes and the elastic deformation. A set of recursive kinematic equations, in which the absolute accelerations are expressed in terms of the joint and elastic accelerations are developed for several joint types. The recursive kinematic equations and the joint reaction relationships are combined with the generalized Newton-Euler equations in order to obtain a system of loosely coupled equations which have sparse matrix structure. Using matrix partitioning and recursive projection techniques based on optimal block factorization an order n solution for the system equations is obtained.... Multibody systems, Deformable bodies, Newton-Euler equations, Elastic deformation, Kinematic equations.