Research on Simulation of the Robot : 2nd Report, Numerical Analysis of Force

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概要

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• Static and dynamic forces which have to be applied to input pairs of an arbitrary-type mechanism for many kinds of actions are analyzed numerically, in order to simulate motion of an articulated robot. Uicker's method of analysis, based on the matrix algebra for a link mechanism of a closed loop, is extended to mechanisms of an opened loop and a compound loop. The static forces necessary to compensate the forces acting from the outside are analyzed by the principle of virtual work. The static and the dynamic forces necessary to compensate the inertia force, the gravity force, the spring force, the spring force and the damping force are analyzed using Lagrange's equation of motion. The forces of two kinds of robot models are calculated numerically by the present method and the results are compared. Both results agree well with each other.

• 社団法人日本機械学会の論文

著者

• Nagamatsu Akio

  Faculty Of Engineering Tokyo Institute Of Technology

• Nagamatsu Akio

  Faculty O F Engineering Tokyo Institute Of Technology

• SAITO Takashi

  Faculty of Engineering, Tokyo Institute of Technology

• ICHIYANAGI Takashi

  Research Institute e of Industrial Technology, Matsushita Electric Industrial Co., Ltd.

• Saito Takashi

  Faculty Of Engineering Kyushu Institute Of Technology

• Ichiyanagi Takashi

  Research Institute E Of Industrial Technology Matsushita Electric Industrial Co. Ltd.

• Saito Takashi

  Faculty Of Agriculture Yamagata University

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