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An Implicit Integration Method for Joint Coordinate Subsystem Synthesis Method

조인트 좌표계를 이용한 부분시스템 합성방법의 내재적 적분기법

  • Jo, Jun-Youn (Graduate school of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Kim, Myoung-Ho (Graduate school of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
  • 조준연 (충남대학교 기계.기계설계.메카트로닉스공학과) ;
  • 김명호 (충남대학교 기계.기계설계.메카트로닉스공학과) ;
  • 김성수 (충남대학교 메카트로닉스공학과)
  • Received : 2011.12.12
  • Accepted : 2012.01.19
  • Published : 2012.04.01

Abstract

To analyze a multibody system, this paper proposes an implicit numerical integration method for joint coordinates subsystem synthesis method. To verify the proposed method, a multibody model for an unmanned robot vehicle, which consists of six identical independent suspension systems, is developed. The symbolic method is applied to compute the system Jacobian matrix for the implicit integration method. The proposed method is also verified by performing rough terrain run-over simulation in comparison with the conventional implicit integration method. In addition, to evaluate the efficiency of the proposed method, the CPU time obtained by using this method is compared with that obtained by using the conventional implicit method.

Keywords

Implicit Integration;Joint Coordinates;Subsystem Synthesis Method

Acknowledgement

Supported by : 방위사업청, 국방과학연구소

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