抄録
In this paper, an efficient method for constraint force analysis of specified joints has been developed in a serially connected open chain multibody systems. The system equations of motion are derived using the recursive formulation. However, constraint forces are computed non-recursively for specified joints. The efficiency of the proposed formulation has been validated by the operational count and the CPU time measure, comparing with recursive Newton-Euler formulation. Simulations of the 7-DOF RRC robot arm have been carried out to validata solutions of constraint reaction forces by comparing with those from the commercial dynamic analysis program DADS.
