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In the present paper the concept of screw in classical mechanics is expressed in matrix form, inorder to formulate the dynamical equations of the multibody systems. The mentioned method can retain theadvantages of the screw theory and avoid the shortcomings of the dual number notation. Combining the screw-matrix method with the tool of graph theory in Roberson/Wittenberg formalism. We can expand theapplication of the screw theory to the general case of multibody systems. For a tree system, the dynamicalequations for each j-th subsystem, composed of all the outboard bodies connected by j-th joint can beformulated without the constraint reaction forces in the joints. For a nontree system, the dynamical equationsof subsystems and the kinematical consistency conditions of the joints can be derived using the loop matrix.The whole process of calculation is unified in matrix form. A three-segment manipulator is discussed as anexample.
In the present paper the concept of screw in classical mechanics is expressed in matrix form, inorder to formulate the dynamical equations of the multibody systems. The mentioned method can retain theadvantages of the screw theory and avoid the shortcomings of the dual number notation. Combining the screw-matrix method with the tool of graph theory in Roberson / Wittenberg formalism. We can expand the application of the screw theory to the general case of multibody systems. For a tree system, the dynamicalequations for each j-th subsystem, composed of all the outboard bodies connected by j-th joint can be formulated without the constraint reaction forces in the joints. unified in matrix form. A three-segment manipulator is discussed as anexample.