| Modeling of mechanics multibody system is the primary sustaning technology of Virtual Prototype.It is the base of virtual prototype to realize simulation.design and control.The technology of virtual prototype has changed the tradisional design based on physical prototype,and has greatly reduced the expensive and time wasting manufactrue and exprements of physical proto type.It allows the users analyse and compare rared of designe plans fastly.It can realize optimized design,and can find the potential questions in the early design.It is the effective method to improve qualities of products,to shorten the developing cycle,and to reduce the developing cost.The dynamical modeling methods of serial or paralle marchines usually include the vector mechanics method whose representative is Newton-Eula equation, the analysis mechanics method whose representative is Lagrange equation, and the Kine method which has both excellences of vector mechanics and analysis mechanics. Althogh these methods reach the same goal by different routes, the efficencies of their releavent software are different to each other with the high and the low. This results in the low efficency of the foreign comercial softwares, and usually the calculation amount is O(N3), that is to say it is equal to the cubic of the free degree of the system (for Kine method the calculation amount is O(lv )). The low efficency arise from two factors:One is that we don't understand multibody system as deep as possible, resting on "there are so many trees as one can't see the forest". The other is that the algorism should hardly avoids voidcomputing possiblly--adding,minusing or multipling by zero, and can't reach the precisioncomputing--each computing is necessary, and the latter computing use the formal results as itcan as as possible. In order to break through the two bottlenecks of the multibody system dynamics, in 1990s, the scientist of NASA G.Redriguez and the others have developed a method based on spatial operator algebra of multibody system dynamics. In result, it has ormited the flexbility of enbody subscript manupation and it has made us understanding multibody system deeper than before, and it has improved efficency in algorism, reaching O(N), and it has resolved the computating of some NASA spacecrafts in application,and it forthermore can be developted to far more kinds of multibody system.In this paper, the spatial operator algebra theory has been dissertated systemtly It is the great contribution to project, science and appled mathematics for the multibody system dynamics based on the spatial operator algebra. It compared mechanics with cebernetics, signal process and other relevant subjects, and find out their common points, and applicated the algorism structure developed by Kalman and Riccati to the resolvation of multibody system dynamics, and realized the mutual penetrate from mechanics to cebernetics. In the future, such penetrate will be strengthened more, so which will form the ideal and unitive base of mechatronical project subject. Futhermore, the simulation software based on Spatial Opertator Algebra,for example,the soft of DARTS based on spatial opertor algebra researched by Rodriguez and others in NASA had beenused to a serial of dynamical calculation of aircrafts,and it had become the special analysing software,and almost all the dynamics of Americal space airctafts were analyzed by this software.It had neraly saving one handure million dolars and had atahed perfect benefit,so it became the gold medal holder of software of NASA in 1997.But the USA keep the software a secreet to our country,and the software can not shoping wherever .The principle and the method distact form different documents and papers. So we must abstract and summery the principle and method of sptial operator algybra.Based on which then digesting and absorbing, we should develop the effective dynamic simulation software based on Spatial Operator Algebra,for the sake of providing effective simulation software for the elecmechanical project sphere of...
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