A Constrained Multibody System Dynamics Avoiding Kinematic Singularities

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概要

• 論文の詳細を見る

• In the analysis of constrained multibody systems, the constraint reaction forces are normally expressed in terms of the constraint equations and a vector of Lagrange multipliers. Because it fails to incorporate conservation of momentum, the Lagrange multiplier method is deficient when the constraint Jacobian matrix is singular. This paper presents an improved dynamic formulation for the constrained multibody system. In our formulation, the kinematic constraints are still formulated in terms of the joint constraint reaction forces and moments ; however, the formulations are based on a second-order Taylor expansion so as to incorporate the rigid body velocities. Conservation of momentum is included explicitly in this method ; hence the problems caused by kinematic singularities can be avoided. In addition, the dynamic formulation is general and applicable to most dynamic analyses. Finally the 3-leg Stewart platform is used for the example of analysis.

• 一般社団法人日本機械学会の論文
• 2002-03-15

著者

• Cheing W‐h

  Department Of Mechanical Engineering National Chiao Tung University

• Yan Chang-dau

  Department Of Mechanical Engineering National Chiao Tung University

• Jeng S‐l

  Department Of Automation Engineering Ta Hwa Institute Of Technology

• HUANG Chih-Fang

  Department of Mechanical Engineering, National Chiao Tung University

• JENG Shyr-Long

  Department of Automation Engineering, Ta Hwa Institute of Technology

• CHEING Wei-Hua

  Department of Mechanical Engineering, National Chiao Tung University

• Huang C‐f

  Chung Shan Inst. Sci. And Technol. Twn

関連論文

• A Constrained Multibody System Dynamics Avoiding Kinematic Singularities
• Analysis of Two-Dimensional Fixture Clamping with Friction

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