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Inverse Dynamic Analysis of Mechanical Systems Using the Velocity Transformation Technique

속도변환기법을 이용한 기계시스템의 역동학적 해석

Lee, Byeong-Hun;Yang, Jin-Saeng;Jeon, U-Seong
이병훈;양진생;전우성

  • Published : 1996.12.01

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