| 摘要 |
A simulation apparatus includes a workpiece state data storage section for storing a plurality of pieces of workpiece state data associating workpiece states and solids with each other and transition condition data representing a transition condition among workpiece states, a dynamics simulator 205 for executing dynamics simulation along the time base based on dynamics model data, a state transition event detection section for detecting occurrence of a workpiece state transition event, a relative position calculation section for calculating data representing the relative positional relationship between the workpiece state and the solid associated with the workpiece state at the occurrence time of an event, and a constraint relationship data generation section for generating data representing the workpiece constraint relationship based on the positional relationship data and assembly model data.
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