Abstract
ニュートン・オイラー法やラグランジュ法など従来の逆動力学計算法では，閉リンク機構の関節トルクを算出するには大きな困難を伴う．そこで，有限要素法を逆動力学計算に適用し，系全体を有限要素で離散化することにより関節トルクを並列的に求める手法を開発した．本報告では，簡単な閉リンク機構に対してトルク配分比や床からの反力などの条件を付加した例題を設定し，モータのエネルギ消費量を踏まえた検討結果を報告する．
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.