Motion Sensitivity Analysis of Multibody Systems by Nullspace Matrix Method of Differential Equation Type

(Study on Treatment of Singular Posture)

Abstract

One of the authors has proposed a motion analysis method for multibody systems called nullspace matrix method of differential equation type. In the proposed method, a nullspace matrix for the constraint Jacobian matrix is obtained by solving a differential equation. Then, the term which represents the constraint force in the equation of motion is eliminated with the nullspace matrix. The proposed method is applicable to systems with singular postures. The authors also proposed a motion sensitivity analysis method based on this analysis method. However, in the previous sensitivity analysis, the solution diverged when the system passes through the singular posture. Therefore, in this study, based on the same idea, improvement of the treatment of singular posture is discussed.