標題: A constrained multibody system dynamics avoiding kinematic singularities
作者: Huang, CF
Yan, CD
Jeng, SL
Cheing, WH
機械工程學系
Department of Mechanical Engineering
關鍵字: constrained multibody system;kinematic constraints;kinematic singularity;constraint reaction force
公開日期: 1-Mar-2002
摘要: In the analysis of constrained multibody systems, the constraint reaction forces are normally expressed in terms of the constraint equations and a vector of Lagrange multipliers. Because it fails to incorporate conservation of momentum, the Lagrange multiplier method is deficient when the constraint Jacobian matrix is singular. This paper presents an improved dynamic formulation for the constrained multibody system. In our formulation, the kinematic constraints are still formulated in terms of the joint constraint reaction forces and moments; however, the formulations are based on a second-order Taylor expansion so as to incorporate the rigid body velocities. Conservation of momentum is included explicitly in this method; hence the problems caused by kinematic singularities can be avoided. In addition, the dynamic formulation is general and applicable to most dynamic analyses. Finally the 3-leg Stewart platform is used for the example of analysis.
URI: http://dx.doi.org/10.1299/jsmec.45.204
http://hdl.handle.net/11536/28993
ISSN: 1344-7653
DOI: 10.1299/jsmec.45.204
期刊: JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING
Volume: 45
Issue: 1
起始頁: 204
結束頁: 214
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