대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제24권8호
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  • Pages.2050-2058
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  • 2000
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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기구학적 조인트에서 마찰력을 고려한 구속 다물체계의 역동역학 해석

Inverse Dynamic Analysis of Constrained Multibody Systems Considering Friction Forces on Kinematic Joints

  • 발행 : 2000.08.01
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초록

A method for the inverse dynamic analysis of constrained multibody systems considering friction forces acting on kinematic joints is presented in this paper. The stiction and the sliding which represent zero and non-zero relative motions are considered during the inverse dynamic analysis. Actuating forces to control the position or the orientation of constrained multibody systems are usually calculated in the inverse dynamic analysis. An iterative procedure need to be employed to calculate the actuating forces when the friction is considered. Furthermore, the actuating forces are not uniquely determined during the stiction. These difficulties are resolved by the method presented in this paper.

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참고문헌

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