Development of a Simulator for a Dynamic Analysis of a Multi-Rigid-body System

多刚体系统动态分析模拟器的开发

• 批准号: 14550238
• 负责人: SUGIMOTO Koichi
• 金额: $ 1.92万
• 依托单位: Tokyo Institute of Technology (2003-2004)Kagawa University (2002)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550238/
• 关键词: multi-body system; simulation; Lie algebra; screw theory; closed loop mechanism; parallel mechanism; dynamics; スクリュ理論; シュミレーション

The unified analysis method of multi-rigid-body systems using the screw theory, the tensor algebra and the Lie algebra has been developed for the dynamic simulation of mechanisms by a computer. First, for the expression of the vector analysis formula, the basis for expressing twists is composed of passive joint axes of the mechanism and its dual basis is used for expressing wrenches in a mechanism. The unified analysis algorithm has been developed. It is free from the kind of motion spaces of mechanisms and from the types of mechanisms such as open loop mechanisms, closed loop mechanisms, parallel mechanisms, and parallel mechanisms with loops or constraints in its connecting chains. Based on this method, the analysis algorithm which is applicable to many types of mechanisms has been established. It is shown by the analysis that the building of a unifying program for multi-rigid-body systems can be easily performed by this method.Based on this algorithm, an analysis procedure for the simulation of open loop mechanisms, closed loop mechanism having one or more loops, the parallel mechanism which has a loop or a constraint in its connection chain had been derived. The computer program for the dynamic simulator has been developed and it is shown that the motion of the mechanisms which are used at present can be simulated by this program.

本文提出了用螺旋理论、张量代数和李代数对多刚体系统进行统一分析的方法，以便在计算机上进行机构的动力学仿真。首先，对于矢量分析公式的表示，表示扭转的基由机构的被动关节轴组成，其对偶基用于表示机构中的扳手。建立了统一的分析算法。它不受机构运动空间的限制，也不受开环机构、闭环机构、并联机构以及连杆上有环或约束的并联机构等机构类型的影响。在此基础上，建立了适用于多种机构的分析算法。分析表明，该方法可以方便地建立多刚体系统的统一程序，并在此基础上推导出了开环机构、具有一个或多个回路的闭环机构、连接链中有回路或约束的并联机构的仿真分析程序。编制了动力学模拟器的计算机程序，结果表明，该程序可以模拟目前使用的机构的运动。

项目成果

杉本 浩一: "複ループ連鎖の連鎖分解による運動および力の解析"日本機械学会論文集,C編. 69巻,683号. 1866-1871 (2003)

Koichi Sugimoto：“通过多环链的链分解分析运动和力”，日本机械工程师学会会刊，C 版，第 683 卷，1866-1871 (2003)。

杉本 浩一: "連結連鎖の双対空間に基づくパラレル機構の力および動解析"日本機械学会論文集,C編. 68巻,672号. 2363-2367 (2002)

Koichi Sugimoto：“基于连接链的对偶空间的并联机构的力和动力学分析”，日本机械工程师学会汇刊，C 版，第 672 卷，2363-2367（2002 年）。

複ループ連鎖の連鎖分解による運動および力の解析

通过多环链的链分解分析运动和力

• 发表时间: 2003
• 期刊: 日本機械学会 論文集C編 69巻・683号
• 作者: 榎本敦子;杉本浩一;他;Koichi SUGIMIOTO;杉本 浩一;杉本 浩一
• 通讯作者: 杉本 浩一

Koichi Sugimoto: "Dynamic Analysis of Closed Loop Mechanisms on the Basis Vectors of Passive Joint Axes"Journal of Robotics Systems. Vo.20,No.8. 501-508 (2003)

Koichi Sugimoto：“基于被动关节轴基本向量的闭环机构的动态分析”机器人系统杂志。

On the Representation of Wrenches for the Analysis of Mechanisms

用于机构分析的扳手表示

• 发表时间: 2004
• 期刊: Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation
• 作者: 榎本 敦子;杉本 浩一;他;Koichi SUGIMOTO;Koichi SUGIMOTO
• 通讯作者: Koichi SUGIMOTO