Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)
- Volume 22 Issue 1
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- Pages.170-176
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- 1998
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
A dynamic analysis for constrained multibody systems using pseudo-inverse and projection matrix
준역행렬과 투영행렬을 이용한 구속 다물체계의 동역학 해석
- Kim, Oe-Jo (Dept.of Mechanical Engineering, Graduate School of Busan National University) ;
- Yoo, Wan-Suk (Mechanical Technology Research Center, Busan National University)
- Published : 1998.01.01
Abstract
In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.