Recursive Dynamic Algorithm of Open-Chain Multibody System

Ming Lu, Wenbin Gu, Jianqing Liu, Zhenxiong Wang, Zhisheng Jing, Guowei Qin and Shanchao Tu

Mathematical Problems in Engineering, 2014, vol. 2014, 1-6

Abstract:

Open-chain multibody systems have been extensively studied because of their widespread application. Based on the structural characteristics of such a system, the relationship between its hinged bodies was transformed into recursive constraint relationships among the position, velocity, and acceleration of the bodies. The recursive relationships were used along with the Huston-Kane method to select the appropriate generalized coordinates and determine the partial velocity of each body and to develop an algorithm of the entire system. The algorithm was experimentally validated; it has concise steps and low susceptibility to error. Further, the algorithm can readily solve and analyze open-chain multibody systems.

Date: 2014
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:457682

DOI: 10.1155/2014/457682

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