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1、ComputationalDynamicsofMultibodySystems:History,Formalisms,andApplicationsPeterEberharde-mail:eberhard@mechb.uni-stuttgart.deMultibodydynamicsisbasedonanalyticalmechanicsandisappliedtoengineeringWernerSchiehlensystemssuchasawidevarietyofmachinesandallkindofvehicles.Multibodydynamicse-mail:sc
2、hiehlen@mechb.uni-stuttgart.dedependsoncomputationaldynamicsandiscloselyrelatedtocontroldesignandvibrationtheory.Recentdevelopmentsinmultibodydynamicsfocusonelasticorflexiblesystems,InstituteBofMechanics,UniversityofStuttgart,respectively,contactandimpactproblems,andactivelycontrolledsystems.
3、Somefunda-70569Stuttgart,Germanymentalsinmultibodydynamics,recursivealgorithmsandmethodsfordynamicalanalysisarepresented.Inparticular,methodsfromlinearsystemanalysisandnonlineardynamicsapproachesarediscussed.Also,applicationsfromvehicles,manufacturingscienceandmoleculardynamicsareshown.DOI:
4、10.1115/1.1961875Keywords:multibodysystemdynamics,recursivealgorithms,vibrationanalysis,engi-neeringapplications1HistoricalRemarkshistoryofclassicalmechanicsincludingrigidbodydynamicscanbefoundinDugas7,Päsler8,andSzabó9.Multibodysystemdynamicsisrelatedtoclassicalandanalyti-Thefirstappl
5、icationsofthedynamicsofrigidbodiesarerelatedcalmechanics.Themostsimpleelementofamultibodysystemistogyrodynamics,mechanismtheoryandbiomechanicsasre-afreeparticleintroducedbyNewton11686inhisPhilosophiaeviewedbySchiehlen10.However,therequirementsformoreNaturalisPrincipiaMathematica.Theessen
6、tialelement,therigidcomplexmodelsofsatellitesandspacecrafts,andthefastdevel-body,wasdefinedin1776byEuler2inhiscontributionentitledopmentofmoreandmorepowerfulcomputersledtoanewNovamethodusmotumcorporumrigidarumdeterminandi.Forbranchofmechanics:Multibodysystemdynamics.Theresultsofthemodelingo
7、fconstraintsandjoints,Euleralreadyusedthefreeclassicalmechanicshadtobeextendedtocomputeralgorithms,bodyprincipleresultinginreactionforces.Theequationsobtainedthemultibodyformalisms.OneofthefirstformalismsisduetoareknowninmultibodydynamicsasNewton-Eu
