Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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THE SIMPLICATION OF DYNAMICS FOR THE FLEXIBLE BODY

유연성을 갖는 매니퓰레이터 역학방정식의 간략화

  • Park, Hwa-Sea (Department of Electronic Eng., Graduate School of Kyung Hee University) ;
  • Bae, Jun-Kyung (Department of Electronic Eng., Graduate School of Kyung Hee University) ;
  • Nam, Ho-Pub (Department of Electronic Eng., Graduate School of Kyung Hee University) ;
  • Park, Chong-Kuk (Department of Electronic Eng., Graduate School of Kyung Hee University)
  • Published : 1988.07.01
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Abstract

The equations of motion for linearly elastic bodies undergoing large displacement motion are derived. This produces a set of equations which are efficient to numerically integrate. The equations for the elastic bodies are formulated and simplified to provide as much efficiency as possible in their numerical solution. A futher efficiency is obtained through the use of floating reference frame. The equation are presented in two forms for numerical integration. 1) Explicit numerical integration 2) Implicit numerical integration. In this paper, there was used the numerical integration. The implicit numerical integration is extended to solved second order equation, futher reducing the numerical effort required. The formulation given is seen to be occulate and is expected to be efficient for many types of problems.

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