실시간 시뮬레이션을 위한 효율적인 차량 모델링 - 힘 요소가 고려된 무질량 링크의 효과 분석

In multibody dynamics, the modeling technique is important to achieve the computational efficiency and accuracy. In this paper, the massless link model transmitting suspension forces is developed to achieve the simulation efficiency. Forces acting on links are resolved and transferred to attachment points with quasi-static assumption. The idea was implemented and tested in Cartesian and joint coordinates with numerical examples, and the efficiency and reliability are verified.