Steady-state Equilibrium Analysis of a Multibody System Driven by Constant Generalized Speeds

일정 일반속력으로 구동되는 다물체계의 정상상태의 평형해석

This paper presents an algorithm which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds. Since the relative coordinates are employed, the constraint equations at cut joints are incorporated into the formulation. The proposed algorithm leads to nonlinear equations that need to be solved iteratively. This algorithm should satisfy both types of conditions: the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed algorithm, two numerical examples are solved and the results are compared with those of a commercial program. This method, compared to the conventional method of using dynamic analysis, has the advantage of computational efficiency and stability.