Formulations for simulating trajectories of the pantograph and reaction forces at nodal points of the pantograph mechanism are presented to develop the mechanism analysis program for railway pantograph with one contact strip. By comparison between the developed program and Solid Works®, commercial CAD S/W for tilting angles of the contact strip simulated during its upward motions, the accuracy of the formulations is validated. An optimal pantograph mechanism can be obtained by using the developed program which can simulate the changes of major design parameters, such as tilting angles of a contact strip and driving moments of a lower arm, as the lengths of members are changed.

ABSTRACT
 1. 서론
 2. 기구학 해석을 위한 정식화
  2.1 운동학 정식화
  2.2 힘의 평형 정식화
 3. 팬터그래프 기구학해석 프로그램 검증
 4. 하부암 길이변화에 따른 운동학 및 하부암 연결부 반력 변화 해석
  4.1 해석 조건
  4.2 운동학 해석결과
  4.3 하부암 회전축 구동모멘트 및반력 해석결과
 5. 결론
 후기
 References

• 조용현(Korea Railroad Research Institute, Propulsion System Research Team) | Yong-Hyeon Cho Corresponding Author