SCREW-MATRIX METHOD IN DYNAMICS OF MULTIBODY SYSTEMS

作     者：Liu Yanzhu, Department of Engineering Mechanics, Shanghai Jiao Tong University 

作者机构：1. Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai China 

出 版 物：《Acta Mechanica Sinica》 (力学学报(英文版))

年 卷 期：1988年第4卷第2期

页      面：165-174页

学科分类：08[工学] 0801[工学-力学（可授工学、理学学位）] 

基　　金：This work is supported by the National Natural Science Fund 

主　　题：dynamics of multibody system matrix method in rigid body dynamics screw theory dynamics of manipulation robots dynamics of spatial mechanisms 

摘      要：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 *** whole process of calculation is unified in matrix form. A three-segment manipulator is discussed as anexample.