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페루프를 포함하는 다물체계에 있어서 구동방법에 따른 구동력 및 조인트 반력 해석
이병훈,최동환,Lee, Byeong-Hun,Choe, Dong-Hwan 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.6
Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.