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

基本信息

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

项目摘要

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.

使用螺丝理论，张量代数和LIE代数的多刚体系统系统的统一分析方法已通过计算机进行动态模拟。首先，对于矢量分析公式的表达，表达扭曲的基础由该机理的被动关节轴组成，其二元基础用于在机制中表达扳手。统一分析算法已经开发。它没有机制的运动空间，也没有机制的类型，例如开路机理，闭环机理，平行机制和平行机制，其连接链中具有循环或约束。基于此方法，已经建立了适用于许多类型机制的分析算法。通过分析表明，该方法可以轻松地执行多物体系统的统一程序。基于该算法，该算法是一种用于模拟开路机制的分析程序，具有一个或多个具有一个或多个环路的封闭环机制，其连接链中具有循环或约束的平行机制已被衍生而来。已经开发了用于动态模拟器的计算机程序，并表明该程序可以模拟当前使用的机制的运动。