Order (n) DISCOS for multibody systems with gear reductionRecent developments in O(n) algorithms (where n is the number of bodies in the system) and parallel processing have drastically reduced the computer time needed to simulate systems involving many bodies. This paper presents a gear-reduction model for the O(n) version of DISCOS, a standard software package for simulation and analysis of flexible multibody systems. The gear-reduction model allows the accurate modeling of harmonic drives, which are commonly used in robot joints. The formulation has been implemented and validated with known results. The gear model can also be used for gear-train, rack-and-pinion, and screw joints.
Document ID
19900060585
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chun, Hon M. (Photon Research Associates, Inc. Cambridge, MA, United States)
Turner, James D. (Photon Research Associates, Inc. Cambridge, MA, United States)
Frisch, Harold P. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
Physics (General)
Report/Patent Number
AIAA PAPER 90-3385
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference