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RESEARCH PAPERS: Design Automation Papers

Systematic Construction of the Equations of Motion for Multibody Systems Containing Closed Kinematic Loops

[+] Author and Article Information
P. E. Nikravesh, Gwanghun Gim

Computer-Aided Engineering Laboratory, Aerospace and Mechanical Engineering Department, University of Arizona, Tucson, AZ 85721

J. Mech. Des 115(1), 143-149 (Mar 01, 1993) (7 pages) doi:10.1115/1.2919310 History: Received February 01, 1989; Revised March 01, 1990; Online June 02, 2008

Abstract

This papers presents a systematic method for deriving the minimum number of equations of motion for multibody system containing closed kinematic loops. A set of joint or natural coordinates is used to describe the configuration of the system. The constraint equations associated with the closed kinematic loops are found systematically in terms of the joint coordinates. These constraints and their corresponding elements are constructed from known block matrices representing different kinematic joints. The Jacobian matrix associated with these constraints is further used to find a velocity transformation matrix. The equations of motions are initially written in terms of the dependent joint coordinates using the Lagrange multiplier technique. Then the velocity transformation matrix is used to derive a minimum number of equations of motion in terms of a set of independent joint coordinates. An illustrative example and numerical results are presented, and the advantages and disadvantages of the method are discussed.

Copyright © 1993 by The American Society of Mechanical Engineers
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