摘要
多刚体系统动力学是在经典力学基础上产生的新学科分支。对低速运动运动的实际工程对象，其零部件的弹性变形并不影响其大范围运动性志。在这种情况下，系统中的物体可作刚体假定。这样的多体系统就称为多刚体系统。
本文以图表的形式，直观鲜明的展现刚体系统中做不同运动的杆件或物体的运动状态，将程序模拟结果与理论计算值对比，验证所建立的力学模型及其计算结果的可靠性和精确性。对于多刚体体系统，在对其进行动力学分析时，需要用统一的方法对刚体进行动力学建模。拉格朗日方法是建立多体系统动力学方程的普遍方法之一，由于有较强的理论性和逻辑性，高度的规格化，以及便于计算机建模等优势，在多刚体体系统动力学中具有重要的地位。在重力作用下，能绕通过自身某固定水平轴摆动的刚体。即复摆是一刚体绕固定的水平轴在重力的作用下作微小摆动的动力运动体系。又称物理摆。复摆的转轴与过刚体质心C并垂直于转轴的平面的交点O称为支点或悬挂点。摆动过程中，复摆只受重力和转轴的反作用力，而重力矩起着回复力矩的作用。利用Matlab软件对其进行仿真模拟。
关键词：多刚体系统；动力学建模；仿真模拟
Abstract
Multibody system dynamics is a new branch of discipline based on classical mechanics. The actual engineering object of low speed motion, the parts of the elastic deformation does not affect the movement of Chi in the large. In this case, the system can be used as a rigid body assumption that objects in the. Multibody system that is called the multi-rigid-body system.
In this paper, by the graph form, intuitive vivid show different motion of rigid body motion system of rods or object, the simulation calculation results are compared with the reliability theory, the mechanical model of the validation of the proposed and the results of calculation and accuracy. For multiple rigid body system, in the dynamic analysis of the dynamics model of the rigid body, the need for a unified approach. Lagrange is one of the common methods to establish the dynamic equations of multibody system, the theoretical and logical, normalization of height, and convenient for computer modeling and other advantages, plays an important role in the dynamics of multi-rigid-body system. Under the action of gravity, can rotate with rigid own some fixed horizontal axis. The pendulum is a rigid body around a fixed horizontal axis in the tiny gravity swing under the effect of the dynamic motion system. Also called the physical pendulum. Pendulum shaft and the mass center of C and perpendicular to the rotation plane intersection O is called a point or point of suspension. In the process of the compound pendulum swing, only by gravity and the shaft of the reaction, and plays the role of gravity moment to moment. Its simulation using Matlab software.
Keywords: multi rigid body system dynamics modeling; simulation;
