剰余剛性を用いた柔軟多体システムの定式化

概要

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Equations of motion of a flexible multibody system are treated in this paper. First, the equations of motion of each body are derived using vibration modes of the body. Unknown hinge constraint forces are regarded as external forces in the equations. Then, kinematic constraint equations of each hinge are obtained, where the residual stiffness of truncated modes is considered. The constraint equations without residual stiffness are also obtained by ignoring the residual stiffness. These constraint equations are used to obtain the hinge constraint forces, and thus, the equations of motion of the system can be solved. When the residual stiffness is considered, the hinge constraint forces are easily obtained from the constraint conditions, and the accuracy of the system model is improved because the influences of the truncated modes are included. The effects of the residual stiffness are verified by a simple 2-beam model.
一般社団法人日本機械学会の論文
1988-04-25