An Efficient Constraint Force Computation in Multibody Systems

摘要

An efficient method for constraint force analysis of specified joints has been developed in a serially connected open chain multibody system. In the method, the system equations of motion are derived using the recursive formulation, but constraint forces are computed non-recursively for specified joints. The efficiency of the proposed formulation has been compared with the recursive Newton-Euler formulation by the operational counting and the CPU time measure. To validate solution accuracy of the proposed method, the 7 d. o.f RRC robot arm simulation has been carried out. Essentially the same simulation results are obtained from the proposed method and from the commercial dynamics analysis program DADS.