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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers. Part K, Journal of Multi-body Dynamics >Application of Gauss principle of least constraint in multibody systems with redundant constraints
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Application of Gauss principle of least constraint in multibody systems with redundant constraints

机译：高斯原理在冗余约束中的多体系系统中的应用

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摘要

Redundancy in the constrained mechanical systems often occurs in complex multibody mechanic systems in the existence of excessive constraints and singular positions due to system motion. In this work, Gauss principle of least constraint (GPLC) is applied to solve the dynamic motion of system with redundant constraints without changing the physics of system. Furthermore, the particle swarm optimization method is used to handle the minimization optimization problem. Eventually, the effectiveness of GPLC is validated through the dynamic modelling and simulation of two numerical examples (a planar four-bar mechanism and a spatial parallelogram mechanism). The simulation results are analyzed and compared with those obtained from Udwaia-Phohomsiri formulation and augmented Lagrangian formulation, in terms of constraint violation, computational efficiency and variation of the mechanical energy. From the viewpoint of computational efficiency and accuracy, GPLC can be regarded as a practical real-time simulation method for multibody systems with redundant constraints.
机译：约束机械系统中的冗余通常发生在复杂的多体机械系统中，该系统在系统运动引起的过度约束和奇异位置存在。在这项工作中，应用最小约束（GPLC）的高斯原则来解决系统的动态运动，在不改变系统物理学的情况下具有冗余约束。此外，粒子群优化方法用于处理最小化优化问题。最终，通过两个数值示例的动态建模和模拟（平面四条机构和空间平行线机制）来验证GPLC的有效性。分析模拟结果，并与从Udwaia-Phohomsiri配方和增强拉格朗日制剂中获得的那些进行比较，在约束违规，计算效率和机械能的变化方面。从计算效率和准确性的角度来看，GPLC可以被视为具有冗余约束的多体系的实际实时仿真方法。

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