| Abstract: | The purpose of this paper is to suggest a new three-dimensional multi-link system dynamics simulator. A 'Jacobian' matrix was generally used for calculating the dynamics of the multi-link system in previously proposed methods; however, this method has many difficulties related to the computational cost and precision of the calculations. For example, there are the problems of the singularity and the accumulation of calculation errors when it follows from the root to the end of the link, and the problems of treating external force effects in the angular space dynamics. In this study, we consider a multi-link system as a multi-particle movement system and each of the particles are connected by a kind of spring damper model as an imitation of a link. Using this mechanism, the Jacobian matrix is not required in the dynamics simulation and the complexity of the link dynamics simulation is dramatically decreased by way of introducing a rotational plane concept. We confirm the effectiveness of the simulator through some dynamics simulations such as walking. |
