微分方程式型零空間行列法によるマルチボディシステムの運動解析

（摩擦が作用するときの解析法）

抄録

In a previous report, one of the authors presented a method for efficient motion analysis of multibody systems. The presented method determines the null space matrix for the constraint Jacobian of the system by solving a differential equation and uses it to eliminate the Lagrange multipliers, which represents the joint reaction forces. Thus the presented method does not obtain the reaction forces. In another previous report the authors presented a method to obtain the joint reaction forces by introducing the coordinates which represent the motion prohibited by the constraints. This report presents a method for motion analysis of multibody systems on which friction acts. First, procedure to obtain the joint reaction forces when the system is subjected to friction force is formulated. Then, a method to calculate motion of the system is presented. Finally, validity of the method is confirmed by numerical example.