| Summary: | 碩士 === 逢甲大學 === 機械工程研究所 === 84 === Since digital computers have been highly developed , using
computer technology on mechanical engineering field is already
made possible . For example , CAD ( Camputer Aided Design ) and
CAE ( Camputer Aided Engineering ) are technologies of which
mechanical engineering problems are sloved by well-developed
computer softwares . However most of them are structural
analysis , for example finite element method , softwares . In
the contrast , developing softwares for analyzing kinematics and
dynamics of mechical systems are unbalanced with static analyses
due to the complexity of kinematics and dynamics . Therefore
algorithms which may develop dynamic equations of motion
systematically become important to make dynamic ayalysis to be
computer-aided . In this thesis we will
employ Kane's equations to analyze dynamics of open-chain
mechanical systems which consist of multi-rigid-bodies . All the
works will be done by matrix analysis . We will model any open-
chain mechanical system to be constructed by " segments ". Then
get a " mass matrix " for the system and related it to a " farce
array " to solve the motion of the system dynamically . This is
like finite element method in structrual ayalysis in which we
model a system to be constructed by " elemen " . Then get a "
stiffness matrix " and related it to a " load array " to solve
the deformation of the system statically . Therefore this work
is to develop a computer-oriented method in solving dynamic
problems of large open-chain mechanical systems .
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