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題名 | 牛頓尤拉疊代法運用於空間撓性機構的運動分析=Kinematic Analysis of Spatial Deformable Mechanisms Using Newton-Euler Iteration Method |
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作者姓名(中文) | 黃運琳; | 書刊名 | 國立虎尾技術學院學報 |
卷期 | 6 2003.03[民92.03] |
頁次 | 頁89-98 |
分類號 | 316 |
關鍵詞 | 牛頓尤拉疊代法; 空間撓性機構; 絕對座標系; 彈性座標系; Newton-Euler iteration method; Spatial deformable mechanisms; Absolute coordinates; Elastic coordinates; |
語文 | 中文(Chinese) |
中文摘要 | 這篇研究論文主要目的乃是發展出針對一組相互連結之空間撓性機系統從事運動分析的一種疊代計算方法。這個空間撓性機構系統所配置的每個桿件是使用一些絕對座標系和彈性座標系來辨別之。在開?路空間撓性機構系統裡,子桿件的絕對速度及絕對加速度可以用母桿件的絕對速度及絕對加速度與接點參數對時間的導數值來表示,這些桿件的運動方程式是以通用牛頓-尤拉方程式來描述。結合實際接點反作用力及外力、各機件運動拘束關係與通用牛頓-尤拉方程式可以發展成一個具鬆散結構的系統矩陣方程組。然後再使用最佳塊狀矩陣分割和疊代計算的方法,用以推導出一個針對系統加速度及接點反作用力非常有效率求解程式。這個求解程式衍生出較少的運算次數,並且能夠更加有效地運用現代電腦向量化和平行化處理的功能。 |
英文摘要 | The main objective of this paper is to develop an interation method for the kinematic analysis of mechanical systems that consist of a set of interconnected rigid and deformable bodies. The configuration of each body in the system is identified using a coupled set of reference coordinates. The velocities and accelerations of child bodies in the system are expressed in terms of the velocities and accelerations of the parent bodies and the time derivatives of the joint relative coordinates between interconnected bodies. The dynamic differential equations of motion are developed for each link using the generalized Newton-Euler equations. The relationship between the actual joint reactions and the generalized forces combined with the kinematic relationships and the generalized Newton-Euler equations are used to develop a large system of loosely coupled equations. Using matrix partitioning and iterative formulations based on optimum block factorization, a decoupled iteration program is developed and can be used to obtain an efficient solution for the system accelerations. This code yields a much smaller operation count and can more effectively exploit vectorization and parallel processing of modern computers. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。