A Symbolic Formulation for Linearization of Multibody Equations of Motion

[+] Author and Article Information
A. G. Lynch, M. J. Vanderploeg

Department of Mechanical Engineering, Iowa State University, Ames, IA 50011

J. Mech. Des 117(3), 441-445 (Sep 01, 1995) (5 pages) doi:10.1115/1.2826698 History: Received April 01, 1991; Revised February 01, 1992; Online December 11, 2007


This paper presents a method for obtaining linearized state space representations of open or closed loop multibody dynamic systems. The paper develops a symbolic formulation for multibody dynamic systems which result in an explicit set of symbolic equations of motion. The symbolic equations are then used to perform symbolic linearizations. The resulting symbolic, linear equations are in terms of the system parameters and the equilibrium point, and are valid for any equilibrium point. Finally, a method is developed for reducing a linearized, constrained multibody system consisting of a mixed set of algebraic-differential equations to a reduced set of differential equations in terms of an independent coordinate set. An example is used to demonstrate the technique.

Copyright © 1995 by The American Society of Mechanical Engineers
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