中文摘要：

为提高含槽轮副的复杂平面多体系统动力学建模与分析的效率及可靠性,提出了相应的向量键合图法。根据运动约束条件,建立了柱销-直线滑槽副的向量键合图模型,适用于内、外啮合的槽轮机构。在此基础上,给出了建立含槽轮副平面多体系统向量键合图模型的理论方法。针对微分因果关系及非线性结型结构给该类平面多体系统动力学建模所带来的代数困难,提出了有效的解耦方法。应用相应的算法,实现了含槽轮副平面多体系统的计算机自动建模与动力学分析,由此说明了所述方法的有效性。

英文摘要：

In order to increase the reliability and efficiency of the dynamics modeling and analysis for complex planar multi -body systems containing grooved sheave, the corresponding vector bond graph procedure is proposed. From the kinematic constraint condition, the vector bond graph model of point - linear follower is built, which is suitable for inner and external grooved sheave. Based on this, the procedure to mode planar multi - body systems with grooved sheave by vector bond graph is made. For the algebraic difficulties brought by differential causality and nonlinear junction structure in dynamics modeling of the planar multi - body systems, the effective deeoupling method is proposed. By using the corresponding algorithm, the computer automatic modeling and dynamics analysis of the planar multi - body system containing grooved sheave on a computer is realized, its validity is illustrated.