弾性体のモデリングと制御 : 第1報,拡張低次元化物理モデルの提案(機械力学,計測,自動制御)

抄録

This paper proposes a new modeling method of elastic body to represent the rigid motion and elastic deformation. This model can be used to control flexible multibody systems like flexible manipulators, vehicles, and space structures etc. The model consists of mass particles, springs, and rigid bodies and the behavior of mass particles represents rigid motion and deformation of elastic bodies. The mass and stiffness matrices are calculated using the modal mass, natural frequencies, and mode shapes. The efficacy of the model is verified by considering an example of an elastic car body supported by a rectangular plate. This modeling procedure is also extended to represent the dynamics of flexible multibody systems.