重み付き残差法による柔軟多体系の漸化形動力学モデル (宇宙におけるダイナミックス,誘導及び制御<特集>)  [in Japanese] Recursive Dynamics of a Flexible Multibody System by the Method of Weighted Residual  [in Japanese]

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Author(s)

Abstract

In this paper, two kinds of mathematical models of flexible bodies connected by rotary joints are derived in a recursive form based on the method of weighted residual. The first one uses the translational and angular velocities and the modal amplitudes of the elastic deformation of the bodies as the state variables. The mathematical model derived is an extension of the model of a rigid multibody system based on the Newton-Euler method. The second one uses the translational velocity of the base body and the angular velocities and the modal amplitudes of the elastic deformation of the bodies as the state variables. The mathematical model derived is the same as the model based on the Lagrangian formulation with quasi coordinates. The algorithms of the inverse dynamics of a flexible manipulator are derived using the models obtained.

Journal

  • Transactions of the Japan Society of Mechanical Engineers. Series C.

    Transactions of the Japan Society of Mechanical Engineers. Series C. 60(580), p4032-4041, 1994-12

    The Japan Society of Mechanical Engineers

Cited by:  1

Codes

  • NII Article ID (NAID)
    110002381324
  • NII NACSIS-CAT ID (NCID)
    AN00187463
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    03875024
  • NDL Article ID
    3598330
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1056
  • Data Source
    CJPref  NDL  NII-ELS 
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