Publisher : The Korean Society of Mechanical Engineers
DOI : 10.22634/KSME-A.19188.8.131.5241
Title & Authors
Inverse Dynamic Analysis of Mechanical Systems Using the Velocity Transformation Technique Lee, Byeong-Hun; Yang, Jin-Saeng; Jeon, U-Seong;
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.