3P2-I01 Development of Dynamics Simulator using Finite Element Method(Dynamics & Design of Robot System)

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Other Title
  • 3P2-I01 有限要素法を用いた動力学シミュレータの開発(【機械力学・計測制御部門】ロボットシステムのダイナミクス&デザイン)


The purpose of this study is to develop a dynamics simulator using the finite element method based upon a beam element and to investigate its validity. It is confirmed that the analysis of a rigid link system is enabled with small calculation cost as an advantage of using this simulator. The analysis code uses a finite-element analysis code of an existing framework structure. First of all, a rigid link system activated in the horizontal plane is modeled and analyzed when torque is given. Then, it is confirmed that the simulator works efficiently by comparing the analysis result with a target motion. It is confirmed from the result that a precise solution of the motion can be achieved.


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