Solving the Inverse Problem of Dynamics Using the Universal Simulation Systems

A technique for solving the inverse problem of dynamics of mechanisms using the universal systems of simulation of complex technical objects is considered. The universe problem consists in determination of forces applied in actuators for ensuring the specified trajectory of their motion. The mathematical bases for solving this problem are shown, an example of numerical experiment is given, which confirms the correctness of the obtained solution. Using the proposed technique for solving the inverse dynamics problem, it is possible to choose load-bearing aggregates of multi-link mechanisms at the stage of their designing, as well as to solve problems of their control.

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