多体システムのための高速な順動力学解法の開発(第1報) : 動力学の定式化及び他の漸化式解法との比較検討

概要

論文の詳細を見る
The aim of this research is to develop an efficient and stable dynamic analysis approach for multibody systems. In this first report, an efficient extension of Rosenthal's order-n algorithm, which is originally limited for only multibody systems with open-loop topology, to multibody systems containing closed-loops is presented. Relative coordinates are employed for modeling systems. Closed topological loops are handled by cut joint technique. Equations of motion and cut joint constraint equations establish a set of differential-algebraic equation (DAE). Then, Rosenthal's order-n algorithm is extended to solve this DAE. Dynamic analysis of a multibody system is carried out to demonstrate efficiency of the proposed approach. Finally, number of arithmetic operations required by the proposed method and other well-known recursive formulations for analyzing a single closed-loop multibody system are counted in order to examine the efficiency of the proposed method compared to other well-known recursive methods.
2001-10-05