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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Multibody dynamics of mechanism with secondary system

Choi, Jun Hyeak 01 January 2012 (has links)
Recent advances in predictive dynamics allow the user to not only predict physics based human motion simulations but also determine the actuation torques required to achieve those motions. The predictive dynamics approach uses optimization to predict motion while using many task based, physics based, and environment based constraints including the equations of motion. Many tasks have been simulated using this new method of predicting and simulating digital human motion, e.g. walking, running, stair climbing, and box lifting. In this research, we develop a method to predict the motion as well as effect of external equipment hanging on the digital human. The proposed method is tested on a simple case of a two degree of freedom serial chain mechanism with a simple passive system to behave as external equipment. In particular, the passive mass is assumed to be attached to the two links system with a spring and damper. The results of the proposed method are compared with the results obtained by integrating the equations of motion of the full three degree of freedom system.

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