| 摘要 |
PURPOSE: To provide a high speed calculation method for link system dynamics capable of calculating sequential dynamics of a rigid body link system including an open link mechanism and a closed link mechanism at a high speed. CONSTITUTION: This dynamics calculation method in the link system constituted by connecting links by revolute joints comprises (1) a first step for adding the revolute joints one by one sequentially from a condition in which individual links are scattered to obtain a restraint force acting on the revolute joint between the links at the time, (2) a second step for excluding the revolute joints according to the order reverse to that in the first step to calculate a final restraint force in each revolute joint, (3) a third step for calculating acceleration of the link using an external force acting on each link and obtained in the first and second steps, and (4) a fourth step for calculating revolute joint acceleration using acceleration of links on both sides of each revolute joint and obtained in the third step.
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