In this study, the system Jacobian matrix is derived using symbolic method and developing general program to analyze quasi-static problem for mechanical system. The constraint equations in terms of generalized coordinates are generated symbolically by using the symbolic computation tool such as Maple, and then, the differentiation can be carried out easily. An algorithm based on Lagrange polynomial is developed to ensure efficiency and accuracy associated with numerical differentiation. The derived Jacobian matrix for a system is proved to be valid and accurate both analytically and through solution of numerical example. In order to verify the accuracy of a program, I was verified applying the 4-bar system

Abstract
 1. 서론
 2. 본론
  2.1 운동방정식
  2.2 기구학적 구속방정식 및 자코비언 행렬
  2.3 기구 정역학 해석 검증
 3. 결론
 Reference

• 김광석(인하공업전문대학 자동차과) | Kwang-Suk Kim