微分方程式型零空間行列によるマルチボディシステムの運動感度解析

（特異姿勢を有する場合）

抄録

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 configurations. For efficient design of machines and structures, sensitivity of the behavior of the system with respect to design variables such as lengths of linkages and positions of joints is required. In this research, based on the procedure of the nullspace matrix method of differential equation type, a motion sensitivity analysis method of multibody systems is proposed. An example of motion sensitivity is presented.