Dynamic analysis of constrained multibody systems using inverse kinematics
نویسندگان
چکیده
منابع مشابه
The Comparison of Direct and Indirect Optimization Techniques in Equilibrium Analysis of Multibody Dynamic Systems
The present paper describes a set of procedures for the solution of nonlinear static-equilibrium problems in the complex multibody mechanical systems. To find the equilibrium position of the system, five optimization techniques are used to minimize the total potential energy of the system. Comparisons are made between these techniques. A computer program is developed to evaluate the equality co...
متن کاملA Predictive Evolutionary Algorithm for Dynamic Constrained Inverse Kinematics Problems
This paper presents an evolutionary approach to the Inverse Kinematics problem. The Inverse Kinematics problem concerns finding the placement of a manipulator that satisfies certain conditions. In this paper apart from reaching the target point the manipulator is required to avoid a number of obstacles. The problem which we tackle is dynamic: the obstacles and the target point may be moving whi...
متن کاملOn the Numerical Solution of Constrained Multibody Dynamic Systems
A new formulation of the equations of motion of constrained multibody systems is presented using a coordinate-splitting (CS) technique. In contrast to the conventional index reduction techniques which apply diierentiation to the Lagrange formulation, this approach applies the coordinate-split operator to the variational form of constrained dynamics, yielding consistent dynamic equations of mult...
متن کاملInvestigating the running abilities of Tyrannosaurus rex using stress-constrained multibody dynamic analysis
The running ability of Tyrannosaurus rex has been intensively studied due to its relevance to interpretations of feeding behaviour and the biomechanics of scaling in giant predatory dinosaurs. Different studies using differing methodologies have produced a very wide range of top speed estimates and there is therefore a need to develop techniques that can improve these predictions. Here we prese...
متن کاملGenerating Optimal Motions of Constrained Multibody Systems
A general approach to optimal motion synthesis of constrained multibody systems is presented. It applies to controlled mechanical systems such as industrial manipulators and legged-locomotion systems. An optimal control problem is stated. A parametric optimization technique based on approximating joint motion coordinates using spline functions of class C is developed to recast this primary prob...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 1993
ISSN: 0094-114X
DOI: 10.1016/0094-114x(93)90078-a