The traditional single - computer - oriented real - time task scheduling mechanism can not satisfy the requirements of distributed real - time object computing environment ( abbreviated as droce in this paper ) 傳統(tǒng)的單機(jī)實(shí)時(shí)任務(wù)調(diào)度已經(jīng)不能適應(yīng)分布實(shí)時(shí)計(jì)算環(huán)境的要求。
The content of this thesis comes from the fujian natural science found following research task 。 it studies on a space cantilever single beam attached to a moving support 。 inertia forces which are brought by the support ' s movement , are acceded to the equivalent initiative forces and the equivalent initiative moments 。 when we consider the relation of the forces and deformation , we change the method of material mechanical analysis to the elastic mechanical analysis 。 further more , we discusses the feasibility of the method which uses the multi - rigid - body discrete model to simulate the dynamic characteristic of a elastic body 。 first , the finite segment method is adopted to establish the models of the beam 。 based on kane ' s equations , dynamic math - model for the beam are derived 。 and by use of c - language and runge - kutta procedure , the computer - oriented procedure can give the whole responses of the beam 。 second , with compare to the numerical examples , the method which uses the multi - rigid - body discrete model to simulate the dynamic characteristic of a elastic body which is under the condition of movement is verified to be feasible 。 本論文為福建省自然科學(xué)基金后續(xù)研究課題,以已知支撐運(yùn)動(dòng)的單個(gè)空間懸臂梁為對象,在等效主動(dòng)力與等效主動(dòng)力矩中加入支撐轉(zhuǎn)動(dòng)引起的慣性力,并在考慮力與變形關(guān)系時(shí),用更一般的彈性力學(xué)分析代替材料力學(xué)分析,進(jìn)一步研究用多剛體離散模型來模擬其動(dòng)力學(xué)特性的可行性。首先,用有限段建立機(jī)械臂的多剛體離散模型,用kane動(dòng)力學(xué)方法建立其動(dòng)力學(xué)方程。并用c語言編制算法程序,采用了四階runge - kutta積分程序求解微分方程組,給出構(gòu)件的全部動(dòng)態(tài)歷程。