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

  • 제41권9호
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  • Pages.869-876
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  • 2017
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
The Korean Society of Mechanical Engineers (대한기계학회)
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Inverse Dynamic Analysis for Various Drivings in Kinematic Systems

기구학적 시스템에 있어서 구동방법에 따른 역동역학 해석

  • 이병훈 (부산대학교 기계공학부)
  • 투고 : 2017.04.13
  • 심사 : 2017.06.21
  • 발행 : 2017.09.01
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초록

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

기계시스템을 제어한다든지 그 부재를 설계하기 위하여 그리고 구동기의 용량을 결정하는데 있어서 구동력이나 조인트반력을 해석하는 것이 필요하다. 본 논문은 주어진 시스템의 운동을 구현하는 다양한 형태의 구동조건에 따른 구동력(또는 토크)을 조인트좌표 공간에서 계산하는 알고리즘을 제시한다. 조인트좌표를 기구학적 시스템의 일반좌표로 사용하며 운동방정식과 구속조건의 가속도식은 속도변환법을 이용하여 직교좌표공간으로부터 조인트좌표공간으로 변환한다. 수치예제를 통하여 제시된 알고리즘의 유용성을 확인한다.

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참고문헌

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