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Inverse Dynamic Analysis of Mechanical Systems Using the Velocity Transformation Technique

속도변환기법을 이용한 기계시스템의 역동학적 해석

  • 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.