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 ) 傳統的單機實時任務調度已經不能適應分布實時計算環境的要求。
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基金后續研究課題,以已知支撐運動的單個空間懸臂梁為對象,在等效主動力與等效主動力矩中加入支撐轉動引起的慣性力,并在考慮力與變形關系時,用更一般的彈性力學分析代替材料力學分析,進一步研究用多剛體離散模型來模擬其動力學特性的可行性。首先,用有限段建立機械臂的多剛體離散模型,用kane動力學方法建立其動力學方程。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,給出構件的全部動態歷程。