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Inverse Dynamic Analysis of Mechanical Systems Using the Velocity Transformation Technique
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 Title & Authors
Inverse Dynamic Analysis of Mechanical Systems Using the Velocity Transformation Technique
Lee, Byeong-Hun; Yang, Jin-Saeng; Jeon, U-Seong;
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 Abstract
This paper presents a method for the inverse dynamic anlaysis of mechanical systems. Actuating forces(or torques) depending on the driving constraints are analyzed in the relative coordinate space using the velocity transformation technique. A systematic method to compose the inverse velocity transformation matrix, which is used to determine the joint reaction forces, is proposed. Two examples are taken to verify the method developed here.
 Keywords
Mechanical System;Inverse Dynamics;Inverse Velocity Transformation;
 Language
Korean
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