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 引用本文: 孙加亮, 田强, 胡海岩. 多柔体系统动力学建模与优化研究进展[J]. 力学学报, 2019, 51(6): 1565-1586.
Sun Jialiang, Tian Qiang, Hu Haiyan. ADVANCES IN DYNAMIC MODELING AND OPTIMIZATION OF FLEXIBLE MULTIBODY SYSTEMS[J]. Chinese Journal of Theoretical and Applied Mechanics, 2019, 51(6): 1565-1586.
 Citation: Sun Jialiang, Tian Qiang, Hu Haiyan. ADVANCES IN DYNAMIC MODELING AND OPTIMIZATION OF FLEXIBLE MULTIBODY SYSTEMS[J]. Chinese Journal of Theoretical and Applied Mechanics, 2019, 51(6): 1565-1586.

## ADVANCES IN DYNAMIC MODELING AND OPTIMIZATION OF FLEXIBLE MULTIBODY SYSTEMS

• 摘要: 多柔体系统是由柔性部件和运动副组成的力学系统,在航空、航天、车辆、机械与兵器等众多工程领域具有广泛的应用前景, 其典型的代表包括柔性机械臂、直升机旋翼、卫星的可展开天线、太阳帆航天器等. 近年来,随着工程技术的发展,多柔体系统动力学问题日益突出,尤其是含变长度柔性部件的多柔体系统,不仅涉及其动力学 建模与计算,还涉及其动力学优化设计. 事实上,部件柔性对多柔体系统的动力学行为影响很大,直接影响到优化结果,因此需要发展基于多柔体系统动力学的优化设计方法. 本文首先阐述了多柔体系统动力学优化的研究背景及意义,简要回顾了多柔体系统动力学建模的3类方法：浮动坐标方法、几何 精确方法和绝对节点坐标方法,并介绍了含变长度柔性部件的多柔体系统动力学建模方法. 系统概述了多柔体系统动力学响应优化、动力学特性优化和动力学灵敏度分析3个方面的研究进展,并从尺寸优化、形状优化和 拓扑优化 3 个方面综述了多柔体系统部件优化的研究进展. 本文最后提出了在多柔体系统动力学优化研究中值得关注的若干问题.

Abstract: Flexible multibody system is a kind of mechanical system composed of many flexible components and kinematic pairs, such as flexible robot arms, helicopter rotors, deployable antennas of a satellite, and solar sail spacecraft. Flexible multibody systems serve as useful models in aerospace engineering, vehicle engineering, mechanical engineering, weapon engineering and so on. Recently, with the development of the engineering technology, new challenges have arisen to establish an accurate dynamic model of a flexible multibody system, as well as for the dynamic optimization design of such a flexible multibody system, especially of a flexible multibody system with variable-length components. As a matter of fact, when the component gets more and more flexible, the interactions between the component and the flexible multibody system cannot be disregarded when performing optimization design. The component-based structural optimization, hence, should be extended to the flexible multibody system-based structural optimization. In this review, the research background and significance of the dynamic optimization of flexible multibody systems are firstly surveyed. Three methods for investigating flexible multibody dynamics including flexible multibody systems with variable-length components are briefly outlined, i.e., floating frame of reference formulation (FFRF), geometrically exact formulation (GEF), and absolute nodal coordinate formulation (ANCF). Afterwards, the recent advances are systematically reviewed in the dynamic response optimization, the dynamic characteristics optimization, and the dynamic sensitivity analysis of flexible multibody systems, as well as the structural optimization, i.e., size optimization, shape optimization, and topology optimization of the flexible components in a flexible multibody system. Finally, several open problems are addressed for future studies.

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