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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Free-body-diagram method for the uniqueness analysis of reactions and driving forces in redundantly constrained multibody systems with nonholonomic constraints
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Free-body-diagram method for the uniqueness analysis of reactions and driving forces in redundantly constrained multibody systems with nonholonomic constraints

机译：具有非完整约束冗余约束多体系统的反应和驱动力的独特性分析的自由体图方法

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摘要

Overconstrained and overactuated multibody systems are problematic in modeling. Under the rigid body assumption, redundantly constrained systems have, in general, nonunique reactions. However, despite this fact, some of the reactions may be unique. A similar problem pertains to driving forces. There are methods that may be used to check the uniqueness. One of them is the free-body-diagram-based approach considered in this paper. The former formulations of this method are unified and extended to the case of systems with affine nonholonomic constraints. Moreover, the previously proposed methods are partially reformulated to obtain a unified description. Four numerical approaches are considered- three based on the direct sum (namely, rank comparison, SVD and QR methods) and the nullspace approach. The numerical efficiency of these four methods is estimated and compared. In order to illustrate the reaction uniqueness analysis, a mobile platform with a trailer is examined in three actuation cases (non-actuated, fully actuated and overactuated). The obtained results are summarized and a brief guidance for exploiting the outcomes of the uniqueness analysis is provided. (C) 2018 Elsevier Ltd. All rights reserved.
机译：过度约束和过度的多体体系在建模中存在问题。在刚体假设下，冗长约束的系统具有一般来说的非纯反应。然而，尽管这一事实，一些反应可能是独一无二的。类似的问题涉及驱动力。有些方法可用于检查唯一性。其中一个是本文考虑的自由体图的方法。该方法的前一种配方是统一的，并扩展到具有仿射非完整约束的系统的情况。此外，部分提出的方法被部分重新重新重新重新重新重新重新重新重新制定以获得统一的描述。基于直接总和（即，等级比较，SVD和QR方法）和Nullspace方法，四个数值方法被考虑为三种。估计并比较这四种方法的数值效率。为了说明反应唯一性分析，在三个致动箱中检查具有拖车的移动平台（非致动，完全致动和过度）。总结了所得结果，并提供了利用唯一性分析结果的简要指导。 （c）2018年elestvier有限公司保留所有权利。

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