柔軟梁を有する二次元多剛体運動のオーダーnの定式化 : Simulinkへの実装によるモデル変更作業の低減化

概要

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This note presents an order-n formulation for two-dimensional dynamics of multibody attached with flexible beams. The present formulation is a modified version of Rosenthal’s algorithm so that flexible beams on bodies can be treated. A flexible beam in the present note is assumed to be a cantilever attached on a rigid body. The formulation can handle the tree topological configuration for the multibody but cannot treat the closed topological configuration nor the situation where flexible beams are connected with each other. This note shows a method for implementing the present algorithm as Simulink C-Mex S-function, and also shows that operation time for modifying the model and simulation is reduced due to the present implementation.
2002-11-05