T-2-1-4 An Efficient Constraint Force Computation in Multibody Systems

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概要

• 論文の詳細を見る

• In this paper, an efficient method for constraint force analysis of specified joints has been developed in a serially connected open chain multibody systems. The system equations of motion are derived using the recursive formulation. However, constraint forces are computed non-recursively for specified joints. The efficiency of the proposed formulation has been validated by the operational count and the CPU time measure, comparing with recursive Newton-Euler formulation. Simulations of the 7-DOF RRC robot arm have been carried out to validata solutions of constraint reaction forces by comparing with those from the commercial dynamic analysis program DADS.

• 社団法人日本機械学会の論文

著者

• KIM Sung

  Dept. of Information and Communications Engineering, Sejong University

• Kim Sung

  Dept. Of Chem. Eng. Korea Advanced Institute Of Science And Technology

• Kim Sung

  Dept. Of Mechatronics Engineering Chungnam National University

• Jin Young

  Seoul National University

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