609 モータ代数による衝突を伴う閉ループ機構の動力学解析(OS1-(3) 計算力学と数値シミュレーション,オーガナイズドセッション)

概要

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The purpose of this study is to construct a concise algorithm by performing dynamics analysis of the closed loop mechanisms with collision. The connection of links is represented by link-pair graph. Force and momentum on links, speed and the acceleration of pairs are described with motor algebra. The equation of motion of a mechanism is defined as equilibrium equation of torque around each pair axis. Virtual spring with high stiffness is put at the collision point, and the displacement of the spring and the speed change of the collision point are calculated in order to compute impulsive force. States such as standstill and sliding contact are described as continuation of micro collision. As an example of the dynamics analysis, simulation of the walk of the mechanical giraffe is shown.
一般社団法人日本機械学会の論文
2009-08-25