Abstract
The authors have developed a general-purpose simulation system for the design of link mechanisms. Topological and Kinematic analyses have already been referred to in the preceding paper. In this paper, methods for the dynamic analysis of link mechanisms with controllers, such as transient response and vibration analysis, are proposed. Both the characteristics of the control system and the equations of motion of the mechanical system are automatically and simultaneously transformed into nonlinear state equations. In transient response analysis, for example, the responses of joint displacements, etc., are calculated by the numerical integration of these equations. In vibration analysis, the state equations are linearized around the desired trajectory to calculate the eigenfrequency, mode shape, and transfer functions. The proposed methods were applied to an industrial fobot, and the effectiveness of the methods was ascertained.
