基于李群局部标架的多柔体系统动力学建模与计算 1)
DYNAMIC MODELING AND COMPUTATION FOR FLEXIBLE MULTIBODY SYSTEMS BASED ON THE LOCAL FRAME OF LIE GROUP 1)
基于李群局部标架的多柔体系统动力学建模与计算 1) |
| 刘铖, 胡海岩 |
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DYNAMIC MODELING AND COMPUTATION FOR FLEXIBLE MULTIBODY SYSTEMS BASED ON THE LOCAL FRAME OF LIE GROUP 1) |
| Liu Cheng, Hu Haiyan |
| 图19 大型空间飞网抓捕与收口动力学模拟其次, 考察基于SE(3)群局部标架的建模方法与Lagrange乘子法相结合,解决多体系统接碰撞动力学问题. 此时,通过将碰撞时的单边约束表示为一类互补条件, 可通过互补算法求解接触冲量.以下通过刚性杆与空心盒间的两点碰撞算例,说明Lagrange乘子法可直接与上述基于SE(3)群局部标架的方法相兼容,并与罚函数法进行比较. |
| Fig.19 Capturing and closing dynamics of the large tethered-net |
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