A unified dynamic analysis of mechanisms and its application to a robot simulator.

概要

論文の詳細を見る
A unified method of the dynamic analysis for general spatial mechanisms and over-constrained mechanisms has been developed. When a screw space representing motion of a mechanism is a mobile space, the velocity and the acceleration motors of the mechanism belong to the mobile space which is invariant with the motion of the mechanism. All the motors in the equations of motion of the mechanism can be expressed by the elements in accord with the basis of the screw space and this make it possible to derive equations which can be applied to mechanisms with several constraint conditions. These equations can be utilized in the unified computer program for the dynamic analysis of serial mechanisms and closed loop mechanisms having arbitrary mobile screw space. They can also be applied to the robot simulator by combining them with the dynamics of servo-mechanisms of actuators.
一般社団法人日本ロボット学会の論文