A RECURSIVE FORMULATION FOR REAL-TIME DYNAMIC SIMULATION OF MECHANICAL SYSTEMS

被引：16

作者：

BAE, DS

HWANG, RS

HAUG, EJ

机构：

[1] Center for Simulation and Design, Optimization of Mechanical Systems and Department of Mechanical Engineering, College of Engineering, The University of Iowa, Iowa, IA

来源：

JOURNAL OF MECHANICAL DESIGN | 1991年 / 113卷 / 02期

关键词：

D O I：

10.1115/1.2912764

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A new recursive algorithm for real-time dynamic simulation of mechanical systems with closed kinematic loops is presented. State vector kinematic relations that represent translational and rotational motion are defined to simplify the formulation and to relieve computational burden. Recursive equations of motion are first derived for a single loop multi-body system. Faster than real-time performance is demonstrated for a closed loop manipulator, using an Alliant FX/8 multiprocessor. The algorithm is extended to multi-loop, multi-body systems for parallel processing real-time simulation in companion papers [1, 2] where performance of the algorithm on a shared memory multi-processor is compared with that achieved with other dynamic simulation algorithms.

引用

页码：158 / 166

页数：9

共 17 条

[1]

Hwang R.S., Bae D.S., Kuhl J.G., Haug E.J., Parallel Processing for Real-Time Dynamic System Simulation, Journal of Mechanical Design

[2]

Dubetz M.W., Kuhl J.G., Haug E.J., A Network Implementation of Real-Time Dynamic Simulation with Interactive Animated Graphics, Advances in Design Automation, 14, pp. 519-524, (1988)

[3]

Armstrong W.W., Recursive Solution to the Equations of Motion of an N-Link Manipulator, Proc. 5Th World Congress on Theory of Machines and Mechanism, 2, pp. 1343-1346, (1979)

[4]

Featherstone R., The Calculation of Robot Dynamics Using Articulated-Body Inertias, The International Journal of Robotics Research, 2, 1, pp. 13-30, (1983)

[5]

Walker M.W., Orin D.E., Efficient Dynamic Computer Simulation of Robotics Mechanism, ASME Journal of Dynamic Systems, Measurement, and Control, 104, pp. 205-211, (1982)

[6]

Haug E.J., Mc Cullough M.K., A Variational-Vector Calculus Approach to Machine Dynamics, ASME Journal of Mechanisms, Transmissions, and Automation in Design, 108, 1, pp. 25-30, (1986)

[7]

Bae D.S., Haug E.J., A Recursive Formulation for Constrained Mechanical System: Part III. Closed Loop Systems, Mechanics of Structures and Machines, 15, 4, pp. 481-506, (1987)

[8]

Wittenburg J., Dynamics of Systems of Rigid Bodies, (1977)

[9]

Bae D.S., Kuhl J.G., Haug E.J., A Recursive Formulation for Constrained Mechanical System Dynamics: Part III. Parallel Processor Implementation, Mechanics of Structures and Machines, 16, 2, pp. 249-269, (1988)

[10]

Bottema O., Roth B., Theoretical Kinematics, (1979)

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