Dynamic Simulation of Multi-body and Multi-chain Mechanical Systems with Kinematic Constraints

• Main Authors: Hsi-Wei Pai, 白錫煒
• Other Authors: Nanjou Lin
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/35704426398490678808

碩士 === 逢甲大學 === 自動控制工程所 === 93 === The objective of this research is to solve the integral stability problem in multi-body multi-chain mechanical system which is one type of the Stewart-platform. For the purpose of stability and accuracy in platform simulate, the parameters choice of the stabilized constraint equations are studied. The most efficient and adaptive dynamics equation model had been developed. The dynamics equation of the studied Stewart-platform system had been developed as a mixed differential- algebraic equations (DAE). These equations are nonlinear and transferred into liner equations under the mass-base perspective. This mass-base perspective enables the multi-chain multi-body mechanical system to be solved in a easy and flexible way. However, when applying the integral method to solve the differential-algebraic equations, it must satisfy the constraint equation and other derivatives at the same time, which implies that the constraint equation and other derivatives are dependent. Unfortunately, the numerical integral method does not process them in dependent way, which may cause unstable problem. Hence, this research also focus on the methods of solving the unstable problem. Most general and hybrid methods will be studied and compared. The adaptive method and parameters choose had been studied and simulated to solve the dynamics equation for the Stewart platform.