機構設計用シミュレーション・システム : 第3報,機構の制御系・時間応答解析

概要

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The computer-aided design method is useful in designing all kinds of link mechanisms including industrial robots and manipulators. The authors also have developed another general-purpose simulation system for link mechanisms. Topological and kinematic analyses have already been referred to in the preceding paper. In this paper, a method for the analysis of transient response in dynamics is presented. In this system, both the characteristics of the control system, which are defined as transfer functions among such nodes as the feedback value, desired value and controlled value, etc., and those of the mechanical system, which are represented as equations of motion, are automatically and simultaneously transformed into state equations. Transient responses, for example, responses for displacement, velocity, acceleration and the driving force of joints are calculated by a numerical integration of these state equations. In addition. this system, affords an animated representation to help understand the results of simulation visually.
1988-10-25