대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)
- 제20권12호
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- Pages.3741-3747
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- 1996
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
속도변환기법을 이용한 기계시스템의 역동학적 해석
Inverse Dynamic Analysis of Mechanical Systems Using the Velocity Transformation Technique
- Lee, Byeong-Hun (Dept.of Mechanical Engineering, Busan National University) ;
- Yang, Jin-Saeng (Graduate School of Busan National University) ;
- Jeon, U-Seong (Graduate School of Busan National University)
- 발행 : 1996.12.01
초록
This paper presents a method for the inverse dynamic anlaysis of mechanical systems. Actuating forces(or torques) depending on the driving constraints are analyzed in the relative coordinate space using the velocity transformation technique. A systematic method to compose the inverse velocity transformation matrix, which is used to determine the joint reaction forces, is proposed. Two examples are taken to verify the method developed here.