SIMPACKTrainingSIMPACK基础培训(2)ContentsTheoryTheoryExerciselosedLoopsModelsetupsimplecranktrain+closedloopexamplesSIMPACKConstraintsTopologydrawingSystemDegreesofFreedomConstraintsNumberofFirstOrderStatesAssembleSystemAssembleSystemConstrainingForcesTopologyDiagramSymbolsModelsetupswayingplatformTopologyExampleTorsionalForcesTopologyDrawingExerciseExpressions3DModelingSlidingRodsGyroscopic2MBS运动开环系统TheoryMBS开环系统MBS闭环系统3SIMPACKConstraints(1)Theory每个物体有且只有一个铰接(joint),因此闭环系统要求施加约束(Constraints)约束作用在两个Marker点之间约束的测量和计算参考FromMarker坐标系约束类型(ConstraintTypes)用户定义约束UserDefined(1-6DOF‘s)无质量杆MasslessLink齿轮箱Gearboxes注意:约束的测量使用的是FromMarker坐标系!4SIMPACKConstraints(2)Theory应用例子:SimpleCrankzxy铰接JointsSimpack可行解决方案提供系统自由度连接1,.锁住运动Lockmotion闭合运动链/生成闭环系统减少自由度数量5SIMPACKConstraints(3)–2D页面符号TheoryReferenceIsysJoints/ConstraintsFrame:BodiesNameofBodyJointsFromMarkerToMarkerxJointStateposition(incoordinatesofyFromMarker)zConstraintFromMarkerToMarkerLockeddirectionofmotion(incoordinatesofFromMarker)Force13SIMPACKForceElementtype()6SIMPACKConstraints(4)Theory问题:如何计算闭环系统的自由度数量和一阶状态方程(FOS)数量?𝐷𝑂𝐹𝑠𝑦𝑠𝑡𝑒𝑚=𝐷𝑂𝐹𝑗𝑜𝑖𝑛𝑡−𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡𝐹𝑂𝑆𝑠𝑦𝑠𝑡𝑒𝑚=2∗𝐷𝑂𝐹𝑗𝑜𝑖𝑛𝑡+𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡微分方程数量代数方程数量7SIMPACKConstraints(4)–方法TheoryJoint;β-1DOF-Revolutionabouty-AxisConstraint;z(,Joint;β-1DOF-reduceNumberofDOF)Revolutionabouty-Axis问题:如何计算闭环系统的自由度数量和一阶状态方程(FOS)数量?𝐷𝑂𝐹𝑠𝑦𝑠𝑡𝑒𝑚=𝐷𝑂𝐹𝑗𝑜𝑖𝑛𝑡−𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡𝐹𝑂𝑆𝑠𝑦𝑠𝑡𝑒𝑚=2∗𝐷𝑂𝐹𝑗𝑜𝑖𝑛𝑡+𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡微分方程数量代数方程数量8SIMPACKConstraints(5)–装配系统AssembleSystemTheory独立铰接和非独立铰接(Independent和DependentJoints)b-非独立-非独立-独立a-非独立-独立-独立问题方案I方案II有多种方案𝑵𝒊𝒏𝑑𝑒𝑝𝑒𝑛𝑑𝑒𝑛𝑡𝐽𝑜𝑖𝑛𝑡𝑆𝑡𝑎𝑡𝑒𝑠=𝐷𝑂𝐹𝑗𝑜𝑖𝑛𝑡=𝑁𝐽𝑜𝑖𝑛𝑡𝑆𝑡𝑎𝑡𝑒𝑠−𝐶𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡𝑆𝑡𝑎𝑡𝑒𝑠=𝐷𝑂𝐹𝑠𝑦𝑠𝑡𝑒𝑚𝑵𝑑𝑒𝑝𝑒𝑛𝑑𝑒𝑛𝑡𝐽𝑜𝑖𝑛𝑡𝑆𝑡𝑎𝑡𝑒𝑠=𝐶𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡𝑆𝑡𝑎𝑡𝑒𝑠独立铰接(Independent)和非独立铰接(Dependen
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