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非定常约束系统
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     The Extension of The Tzenoff Equation Under The Rheonomic Restrained Condition
     非定常约束条件下TZENOFF方程的推广
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     SINGULAR VALUE DECOMPOSITION FOR THE DYNAMIC ANALYSIS OF MULTIBODY SYSTEMS WITH RHEONOMIC CONSTRAINTS
     奇异值分解对非定常约束多体系统的动力学分析
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     programming and constrained D.
     规划和约束D.
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     Punishment to the violation of thecontract are three kinds: fine, mortgage on the loan and law restrain.
     法律约束
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     The Integral of Motion for a Holonomic System with Rheonomic Constraints and Having Ignorble Coordinates
     具有非定常约束的完整系统存在循环坐标时的初积分
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The general equivalent dynamics model for 7R-Ⅲdegree mechanism was established on the basis of EFEM(equivalent finite element method).The fundamental principle is that equivalent should be combined with FEM(finite element method).Quality and inertia are equivalent to the centroid or on the two ends of the bar for any form of component by the type of statical and dynamical condensation.Every element was built through the FEM.The system motive differential equation for any kind of constraint was derived.The key...

The general equivalent dynamics model for 7R-Ⅲdegree mechanism was established on the basis of EFEM(equivalent finite element method).The fundamental principle is that equivalent should be combined with FEM(finite element method).Quality and inertia are equivalent to the centroid or on the two ends of the bar for any form of component by the type of statical and dynamical condensation.Every element was built through the FEM.The system motive differential equation for any kind of constraint was derived.The key point of building dynamic model is to set up 2 steps tensor Tia and 3 steps tenser Tibc and assemble the equivalent mass matrix.The process to establish dynamics model was simple,rapid,standard,unification and programmed and the function is easy to be assembled.

以等效元素法建立了7R-Ⅲ级机构的通用动力学模型,将等效的思想与有限元的方法结合起来,通过静力和动力凝聚的方式将任一形式的构件的质量和惯量向质心或杆件两端等效,采用有限元方法对单元进行集成组装,建立既适用于定常约束系统也适用于非定常约束系统的动力学微分方程,将建模的关键归结为二阶张量Tia和三阶张量Tibc的建立以及等效质量阵的组装,建模和解算过程简单快捷.实现了规范、统一、易于组装和计算机编程的动力学系统建模.

 
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