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

  • 제22권1호
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  • Pages.170-176
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  • 1998
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  • 1226-4873(pISSN)
  • /
  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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준역행렬과 투영행렬을 이용한 구속 다물체계의 동역학 해석

A dynamic analysis for constrained multibody systems using pseudo-inverse and projection matrix

  • 김외조 (부산대학교 대학원 기계공학부) ;
  • 유완석 (부산대학교 기계기술연구소)
  • Kim, Oe-Jo (Dept.of Mechanical Engineering, Graduate School of Busan National University) ;
  • Yoo, Wan-Suk (Mechanical Technology Research Center, Busan National University)
  • 발행 : 1998.01.01
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초록

In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.

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