# 구속된 다물체 시스템을 위한 기하학적 운동구속론

• 김재용 (국방과학연구소) ;
• 배대성 (한양대 정밀기계공학과) ;
• 한창수 (한양대 정밀기게공학과) ;
• 이상호 (한양대 정밀기게공학과 대학원)
• Published : 1994.07.01

#### Abstract

Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using relative coordinate kinematics between two adjacent reference frames. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed formulation of relative and cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. Possible singularity problem of para llelism constraints is resolved by introducing an extra generalized coordinate. Kinematic analysis of a McPherson strut suspension system are carried out to illustrate use and efficiency of the new formulation.