書誌事項
- タイトル別名
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- Dynamic Simulation Algorithm for Multibody Systems Subject to Severe Configuration Change.
- イチジルシイ ケイタイ ヘンカ オ トモナウ タタイ システム ノ ドウテキ
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The objective of this paper is to establish a computer algorithm capable of simulating dynamics of variable configuration systems based on the unified matrix approach for multibody systems of N bodies connected by M generic hinges with M ≥ N. The system may have an arbitrary system topology, including chain, tree and closed-loop configuration. Hinge can be either a physical joint mechanism such as gimbal, ball-joint, or spring-damper, or a hypothetical connecting point of two adjacent bodies as in case of docking. Any change in configuration and constraint conditions has been modeled by a function dependent on time and states. The approach developed here is essentially based on the formulation of a matrix form of the linear algebraic equation to be solved simultaneously for the time derivatives of non-holonomic angular and linear momenta, and the internal non-working constraint torques and forces. The non-holonomic momenta are derived for each body referring to the angular and linear velocities with respect to the inertially fixed frame expressed in the body frame of each body. With this selection of the variables, the linear equation takes a form Ax=B, where the coefficient matrix A represents the system configuration and the constraint conditions. This approach has been proven useful in simulation, such as separation, connection, topology change, and change in constraint degrees-of-freedom.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 59 (568), 3778-3784, 1993
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206295979904
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- NII論文ID
- 130004230287
- 110002380822
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
- http://id.crossref.org/issn/00290270
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- NDL書誌ID
- 3858461
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可