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http://dx.doi.org/10.3795/KSME-A.2012.36.4.437

An Implicit Integration Method for Joint Coordinate Subsystem Synthesis Method  

Jo, Jun-Youn (Graduate school of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Kim, Myoung-Ho (Graduate school of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.36, no.4, 2012 , pp. 437-442 More about this Journal
Abstract
To analyze a multibody system, this paper proposes an implicit numerical integration method for joint coordinates subsystem synthesis method. To verify the proposed method, a multibody model for an unmanned robot vehicle, which consists of six identical independent suspension systems, is developed. The symbolic method is applied to compute the system Jacobian matrix for the implicit integration method. The proposed method is also verified by performing rough terrain run-over simulation in comparison with the conventional implicit integration method. In addition, to evaluate the efficiency of the proposed method, the CPU time obtained by using this method is compared with that obtained by using the conventional implicit method.
Keywords
Implicit Integration; Joint Coordinates; Subsystem Synthesis Method;
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