Matrix Analysis of Dynamics with Application to Open-Chain Mechanical System

• Main Authors: Gu, Nai-Hung, 顧乃桓
• Other Authors: Liu Yong-Sheng
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/69232829981777957300

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 .