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A Non-recursive Formulation of Dynamic Force Analysis in Recursive Multibody Dynamics
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 Title & Authors
A Non-recursive Formulation of Dynamic Force Analysis in Recursive Multibody Dynamics
Kim, Seong-Su;
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 Abstract
An efficient non-recursive formulation of dynamic force analysis has been developed for serially connected multibody systems. Although derivation of equations of motion is based on a recursive dynamic formulation with joint relative coordinates, in the proposed formulation, dynamic forces such as joint reaction forces and driving force are computed non-recursively for specified joints. The efficiency of the proposed formulation has been proved by the operational count and the CPU time measure, comparing with that of the conventional recursive Newton-Euler formulation. A simulation of 7-DOF RRC robot arm has been carried out to validate solutions of reaction forces by comparing with those from a commercial dynamic analysis program DADS.
 Keywords
Recursive Multibody Dynamics;Dynamic Force Analysis;Multibody System;Joint Relative Coordinate;
 Language
Korean
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