刚体力学中的逆动力学

IF 0.7 Q4 MECHANICS

Theoretical and Applied Mechanics Pub Date : 2022-01-01 DOI:10.2298/tam221109011f

S. Federico, Mawafag F. Alhasadi

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引用次数: 1

摘要

逆动力学用于计算多体系统关节中的力和力矩，在生物力学或机器人等领域进行了研究。本着教学的精神，本文首先概述了从现代连续介质力学的角度推导刚体的运动学方程和动力学方程。然后介绍了求解逆动力学问题的矩阵公式，最后给出了一个简单的二维应用实例。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Inverse dynamics in rigid body mechanics

Inverse Dynamics is used to calculate the forces and moments in the joints of multibody systems investigated in fields such as Biomechanics or Robotics. In a didactic spirit, this paper begins with an overview of the derivations of the kinematical and dynamical equations of rigid bodies from the point of view of modern Continuum Mechanics. Then, it introduces a matrix formulation for the solution of Inverse Dynamics problems and, finally, reports a simple two-dimensional example of application to a problem in Biomechanics.

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来源期刊

Theoretical and Applied Mechanics MECHANICS-

CiteScore

0.90

自引率

0.00%

发文量

审稿时长

32 weeks

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