Development of Huston's Method on Multibody Dynamics

摘要

A brief introduction to Huston's method on multibody dynamics, including lower numbered body array, transformation matrix, generalized coordinates and their derivatives, computation of kinematic parameters and dynamic equations was presented. Then,the development of finite segment method, combined modal analysis method and their application to beam-like bodies were introduced. The strain field was initially expressed in terms up to the second order in the deformation of points. Based on small deformation principle, equations were linearized at its convenience, the dynamic stiffness terms can be captured and consistent linearized dynamic equations can be obtained. Finally, the applications in the industrial robot, NC machine tool compensation technique, vibration control of flexible manipulator and flexible multibody system of acrospacecraft were introduced.