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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2003.12
- 수록면
- 1,977 - 1,985 (9page)
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초록· 키워드
오류제보하기
In the present study, the dynamic modelling of planar mechanisms that consist of a system of rigid bodies is carried out using point coordiantes. The system of rigid bodies is replaced by a dynamically equivalent constrained system of particles. Then for the resulting equivalent system of particles, the concepts of linear and angular momentums are used to generate the equations of motion without either introducing any rotational coordinates or distributing the external forces and force couples over the particles. For the open loop case, the equations of motion are generated recursively along the open chains. For the closed loop case, the system is transformed to open loops by cutting suitable kinematic joints with the addition of cut-joints kinematic constraints. An example of a multi-branch closed-loop system is chosen to demonstrate the generality and simplicity of the proposed method.
목차
Abstract
1.Introduction
2.The Dynamic Model
3.Equations of Motion of a Serial Chain of Rigid Bodies
4.Dynamic Analysis of a Multi-Branch Closed-Loop System
5.Conclusions
References
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UCI(KEPA) : I410-ECN-0101-2009-550-014052095