Science Links Japan | Calculating Inverse Dynamics for Closed-Loop Link Mechanisms by Using FEM. Verification of Energy Consumption Level in the System.

Calculating Inverse Dynamics for Closed-Loop Link Mechanisms by Using FEM. Verification of Energy Consumption Level in the System.

Accession number;02A0713939

Title;Calculating Inverse Dynamics for Closed-Loop Link Mechanisms by Using FEM. Verification of Energy Consumption Level in the System.

Author; YAGI ATSUSHI (Univ. of Tsukuba, Graduate School) ISOBE DAIGORO (Univ. of Tsukuba)

Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu

Journal Code:L0318A

ISSN:

VOL.2002;NO.Pt.5;PAGE.2P2.C01(1)-2P2.C01(2)(2002)

Figure&Table&Reference;FIG.3, TBL.1, REF.3

Pub. Country;Japan

Language;Japanese

Abstract;In this report, a scheme using Finite Element Method (FEM) based on the Shifted Integration technique is applied to the calculation of inverse dynamics for closed-loop link mechanisms. In this scheme, the entire system is subdivided into discrete elements and evaluated as a continuum. A single link structure of a pin joint and a rigid bar is expressed by using the Shifted Integration technique. It calculates nodal forces by evaluating equations of motion in a matrix form, and thus information in the entire system can be handled in parallel. The obtained nodal forces are then conversed to joint torque in the system. Therefore, various parameters such as the binding condition, position of a passive joint and the torque distribution ratio, can be easily changed. Some simple numerical tests are carried out to a closed-loop link mechanism, and the energy consumption levels are compared and examined. (author abst.)

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