Dynamic model of multi‐rigid‐body systems based on particle dynamics with recursive approach

Hazem Ali Attia

Journal of Applied Mathematics, 2005, vol. 2005, issue 4, 365-382

Abstract: A dynamic model for multi‐rigid‐body systems which consists of interconnected rigid bodies based on particle dynamics and a recursive approach is presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open‐chain system, the equations of motion are generated recursively along the serial chains. A closed‐chain system is transformed to open‐chain by cutting suitable kinematical joints and introducing cut‐joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.

Date: 2005
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https://doi.org/10.1155/JAM.2005.365

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Persistent link: https://EconPapers.repec.org/RePEc:wly:jnljam:v:2005:y:2005:i:4:p:365-382

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