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TECHNICAL PAPERS

Force Equilibrium Approach for Linearization of Constrained Mechanical System Dynamics

[+] Author and Article Information
Ju Seok Kang

Chassis Design Dept., Daewoo Motor Co. Ltd., Incheon 403-714, Korea

Sangwoo Bae, Jang Moo Lee

School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, 151-742, South Korea

Tae Oh Tak

Dept of Mechanical Engineering, Kangwon National University, Kangwon-do, 200-701, South Korea

J. Mech. Des 125(1), 143-149 (Mar 21, 2003) (7 pages) doi:10.1115/1.1541631 History: Received August 01, 2000; Revised March 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

Orlandea,  N., Chase,  M. A., and Calahan,  D. A., 1977, “A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Parts I and II,” ASME J. Eng. Ind., 99, pp. 773–784.
Wehage,  R. A., and Haug,  E. J., 1982, “Generalized Coordinate Partitioning for Dimension Reduction in Analysis of Constrained Dynamic System,” ASME J. Mech. Des., 104, pp. 247–255.
Mani,  N. K., Haug,  E. J., and Atkinson,  K. E., 1985, “Application of Singular Value Decomposition for Analysis of Mechanical System Dynamics,” ASME J. Mech., Transm., Autom. Des., 107, pp. 82–87.
Bae,  D.-S., Hwang,  R.-S., and Haug,  E. J., 1991, “A Recursive Formulation for Real-Time Dynamic Simulation of Mechanical Systems.” ASME J. Mech. Des., 113, pp. 158–166.
Franchi,  C. G., 1995, “General Formulation in Rigid Multibody Dynamics,” Int. J. Numer. Methods Eng. 38(12), pp. 1985–2016.
Gear, W. C., 1971, Numerical Initial Value Problems in Ordinary Differential Equations, Prentice-Hall, Englewood Cliffs, NJ.
Gear,  W. C., 1971, “Simultaneous Numerical Solution of Differential-Algebraic Equations,” IEEE Trans. Circuit Theory, 18(1), pp. 89–95.
Brayton,  R. K., Gustavson,  F. G., and Hatchel,  G. D., 1972, “A New Efficient Algorithm for Solving Differential-Algebraic Systems Using Implicit Backward Differentiation Formulas,” Proc. IEEE, 60(1), pp. 98–108.
Sohoni,  V. N., and Whilesell,  J., 1986, “Automatic Linearization of Constrained Dynamical Models,” ASME J. Mech. Des., 108, pp. 300–304.
Lin,  T.-C., and Yae,  K. H., 1994, “Recursive Linearization of Multibody Dynamics and Application to Control Design,” ASME J. Mech. Des., 116(2), pp. 445–451.
Vukibratovic,  M., and Nenad,  K., 1982, “Computer-Oriented Method for Linearization of Dynamic Models of Active Spatial Mechanisms,” Mech. Mach. Theory, 17(1), pp. 21–32.
Balafoutis,  C. A., Mirsa,  P. P., and Patel,  R. V., 1986, “Recursive Evaluation of Linearized Dynamic Robot Models,” IEEE Trans. Rob. Autom., RA-2(4), pp. 146–155.
Kang, J. S., Yun, J. R., Lee, J. M., and Tak, T. O., 1997 “Elastokinematic Analysis and Optimization of Suspension Compliance Characteristics,” SAE paper No. 970104.
Nikravesh, P. E., 1988, Computer-Aided Analysis of Mechanical Systems, Prentice-Hall, Englewood Cliffs, NJ.

Figures

Grahic Jump Location
Dynamic force equilibrium
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Displacement vector for a body
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Displacement between two bodies
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Modeling of a McPherson strut suspension system
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Response of wheel vertical displacement to a sinusoidal sweep input in the vertical direction
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Response of wheel lateral displacement to a sinusoidal sweep input in the lateral direction
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Suspension system with a stabilizer and a steering system
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Wheel hop or vertical mode
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Wheel longitudinal mode (out-of-phase)
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Wheel longitudinal mode (in-phase)
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Wheel toe mode (in-phase)
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Wheel toe mode (out-of-phase)

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