선형희소솔버를 이용한 기계시스템 동역학의 파라메트릭 일반좌표 수식화

Abstract

Efforts are being continued to implement multibody dynamics formulation easily and quickly. The parametric generalized coordinate is included in the constraint equation is proposed, to maintain the generality of the absolute coordinate, to compensate for complexity of the relative coordinate. In the proposed approach, the number of arithmetic operations for the Jacobians compared to the conventional and proposed approach, the dynamic analysis of a multibody slider-crank mechanism model is carried out to demonstrate the validity of the proposed formulation. As a result, due to the parametric generalized coordinate, the proposed approach had the advantage of reduced system calculation times, arithmetic operations and complexities for jacobian of constraint equation. Although the size of the system matrix is increased, due to Sparse Linear Solver, the simulation time of proposed method increased slightly than a conventional Cartesian coordinate approach. The Simplified jacobian facilitates more easy and rapid program development.