CAJ | 학술논문

研究了具有驱动约束及非光滑滑移铰多体系统动力学方程的建模与数值计算方法。将驱动约束视为非定常约束，非光滑滑移铰视为双边定常约束，滑移铰的摩擦模型采用库仑摩擦模型；应用第一类 Lagrange方程建立系统的动力学方程，应用距离函数建立滑移铰的约束方程；将线性互补方法和 Baumgarte 约束稳定化方法引入，以解决滑移铰法向约束力的计算以及约束方程违约问题。最后应用曲柄摇杆机构作为算例，说明该方法的有效性。
연구료구유구동약속급비광활활이교다체계통동역학방정적건모여수치계산방법。장구동약속시위비정상약속，비광활활이교시위쌍변정상약속，활이교적마찰모형채용고륜마찰모형；응용제일류 Lagrange방정건립계통적동역학방정，응용거리함수건립활이교적약속방정；장선성호보방법화 Baumgarte 약속은정화방법인입，이해결활이교법향약속력적계산이급약속방정위약문제。최후응용곡병요간궤구작위산례，설명해방법적유효성。
This paper presented a modeling and simulation method for the rigid multibody system with frictional translational joints and driving constraints.The geometric constraints of the translational joints were treated as bi-lateral scleronomic constraints and the driving constraints were rheonomic constraints.The frictional model of translational joint was characterized by the type of Coulomb's law.The dynamic equations were obtained by the Lagrange equation of the first type and the constraint equations of translational joints were given by distance func-tion.The problem about the translations of the normal constraint forces acting on the sliders of translational joints was formulated and solved as a horizontal linear complementarity problem.The Baumgarte's stabilization method was used to decrease the constraint drift.Finally,a crank-rocker mechanism was considered as a demonstrative application examples.The numerical results of this example show some dynamical behaviors of the system with frictional translational joints and constraint stabilization effect.