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구속된 다물체 시스템의 선형화에 관한 연구

Title
구속된 다물체 시스템의 선형화에 관한 연구
Other Titles
A Linearization Method for Constrained Mechanical Systems
Author
배대성
Keywords
Vibration Analysis; 진동해석; Natural Frequency; 고유진동수; NullSpace; 영공간
Issue Date
2004-04
Publisher
대한기계학회
Citation
대한기계학회 2004도 춘계학술대회 강연 및 논문 초록집, Page. 893-898
Abstract
This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00909351&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/136804
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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