An Efficient Multibody Dynamic Algorithm Using Independent Coordinates Set and Modified Velocity Transformation Method

수정된 속도변환기법과 독립좌표를 사용한 효율적인 다물체 동역학 알고리즘

Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..