球ジョイントに硬い弾性を想定した二重剛体振り子のマルチボディダイナミクス

抄録

In multibody dynamics, the position constraint of the joint between each body is represented by a constraint equation, and the method of Lagrange multipliers is common. However, since this method is difficult to understand, it is troublesome to apply it to an actual model. As a method that does not use such an elusive analytical mechanics method, it is considered that there is hard elasticity in the joint constraining between the bodies, the reaction force and torque are calculated from the deflection between the support points, as an external force to Newton Euler's equation of motion. Both methods for simulating double rigid body pendulum: the constraint joint and the hard-elastic joint were compared. In the latter case, it was confirmed that the calculation processing time was several ten times of that of the former, but there was no problem in terms of practical accuracy.