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Analysis of Actuating and Joint Reaction Forces for Various Drivings in Multibody Systems with Closed-Loops
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 Title & Authors
Analysis of Actuating and Joint Reaction Forces for Various Drivings in Multibody Systems with Closed-Loops
Lee, Byeong-Hun; Choe, Dong-Hwan;
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 Abstract
Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.
 Keywords
Multibody System;inverse Dynamics;Inverse Velocity Transfor mation;Actuating Force;Joint Reaction Force;
 Language
Korean
 Cited by
 References
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