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Multi-bodySystemDynamics方向华总监GET集团北京分公司物理系统抽象RealSystemSeparateintoBodies,Joints,ForceElements,...CADFEM...DrawTopologyExternalDataModelSetupinSIMPACKBodiesJointsConstraintsForceExcitationsSensors...ElementsMass,fromfromfromfromCenterofMarker,Marker,Marker,Type,Marker,~,tototoParametetoI-Tensor,Marker,Marker,Marker,r,Marker,Marker,TypeTypeTypeu-VectorsType3D-Primitive开环、闭环拓扑结构OpenMBSTreeStructureClosedLoopMBSTreeStructure正弦机构ApplicationExample:SimpleCrankJoint2Body2Joint1(1DOF)Joint3ZYInertialFrameBody1XOneofthepossibleSolutionsinSIMPACK(relativeKinematics):Joints1,2:definetheTopology⇒inSIMPACK:jointsJoint3:definesclosedLoop⇒inSIMPACK:constraintsjoints:givesystemdegreesoffreedomconstraints:lockmotion-closekinematicchains-makeclosedloops-reducenumberofdegreesoffreedomReferenceIsysFrame:Joints/ConstraintsBodies:Bodynamewith:nameofbodyαβJoints:αwith:-fromMarker-->toMarker-jointstateposition(inCoordinatesoffromMarker)γxConstraint:with:-fromMarker-->toMarkerα-lockeddirectionofmotion(inCoordinatesoffromMarker)yzForce13with:-SIMPACKforceelementtypeElements:(cmpcalculatedw.r.tfromMarker)正弦机构joint;α-1DOF-Revolutionaroundx-AxisZBody1Body2YXconstraint;L:z(lockedTransl.inz,joint;α-1DOF-reduceNumberofRevolutionaroundx-AxisDOF)Task:HowdoyoucalculatetheNumberofDegreesofFreedom(DOF)ofclosedLoopSystemsandNumberoffirstorderStates(FOS)?∑DOFsystem=?∑FOSsystem=?正弦机构joint;α-1DOF-Revolutionaroundx-AxisZBody1Body2YXconstraint;L:z(lockedjoint;α-1DOF-Transl.inz,Revolutionaroundx-AxisreduceNumberofDOF)Task:HowdoyoucalculatetheNumberofDegreesofFreedomofclosedLoopSystems(DOF)andNumberoffirstorderStates(FOS)?∑DOFsystem=∑DOFjoint-∑constraint∑FOSsystem=2•∑DOFjoint+∑constraintNumberofdifferentialEquationsNumberofalgebraicEquationsBody2Joint4Joint2Solution1:Solution2:„Stupid“Body1„Smart“SIMPACKModelBody3SIMPACKModelJoint3Joint1L:x,y,z,L:x,y,z,β,γβ,γBody3Body2Body1
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