Abstract
有限要素法を開リンク機構の逆動力学計算に用いてきたが，本稿ではこれを閉リンク機構に適用した．一般的なラグランジュ法や，複数の仮想的な開リンク機構に分割して拘束条件を操作する方法ではその実施に困難が伴うが，本手法は開リンク機構に対するアルゴリズムをほとんど変更することなく，容易に閉リンク機構に適用できる統一的な手法であることが，いくつかの数値例から確認できた．
In this paper, a scheme using Finite Element Method (FEM) for calculating inverse dynamics is applied to 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 matrix form, and thus information in the entire system can be handled in parallel. The obtained nodal forces are then used to calculate joint torque in the system. A simple numerical test on a closed-loop link mechanism is carried out, and it is verified that the scheme can be used as a unified calculation scheme independent to system configuration.