Abstract
系全体を微小要素に離散化し，個々の情報を全体で集約して同時に求める手法である有限要素法を用いると，リンクの情報が相互に依存してしまう従来の手法に対し，３次元運動をする開リンク機構の逆動力学計算が容易になると考えられる．本報告では，有限要素法を用いて開発され，２次元運動をする開リンク機構に対してその有効性が確認されている手法を３次元運動のものに拡張し，いくつかの数値例に基づきその有効性を検証した．
Finite Element Method (FEM) is a kind of parallel calculation scheme, which subdivide a continuum system by discrete minute elements, and takes out a solution by calculating global equation constituted by elemental information. By applying FEM to the calculation of inverse dynamics of link mechanisms, it may become easier to use, compared to other conventional schemes using dynamic equations where link variables depend upon each other. The purpose of this report is to extend the scheme using FEM from a 2-D motional version, by which the validity was checked in the previous report, to a 3-D motional version. Some simulation tests are carried out using the scheme and the validity is verified.