科研之友
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摘要
Purpose The purpose of this paper is to provide a method with convenient modelling as well as precise computation to the research of complex multi-body system, such as robot arms and solar power satellite. Classical modelling method does not always fit these two requirements. Design/methodology/approach - In this paper, tensor coordinates (TC) and homogeneous tensor coordinates (HTC) method with gradient components are developed, which also have a convenient interface with classical theory. Findings - The HTC proved its precision and effectiveness by two examples. In HTC model, equations have a more convenient form as matrix and the results coincide well with classical one. Research limitations/implications - There is no plenty detailed operations supported in mathematics yet, which may be developed in further research. Practical implications - With TC/HTC method, the research work can be separated more thoroughly: a simpler modelling work is left to scientists, when more computing work is handed to the computers. It may ease scientists' brains in multibody modelling. Originality/value - The HTC method has the advantages of absolute nodal coordinate formulations, tensor and homogeneous coordinate (HC) and it may be used in multibody mechanics, or other related engineerings.
- 出版日期2017
- 单位哈尔滨工业大学
