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TECHNICAL PAPERS

Elimination of Redundant Cut Joint Constraints for Multibody System Models

[+] Author and Article Information
A. Müller

Institute of Mechatronics at the Chemnitz University of Technology, Reichenhainer Straße 88, 09126 Chemnitz, Germanye-mail: A.Mueller@ifm.tu-chemnitz.de

J. Mech. Des 126(3), 488-494 (Oct 01, 2003) (7 pages) doi:10.1115/1.1737377 History: Received June 01, 2003; Revised October 01, 2003
Copyright © 2004 by ASME
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References

Maisser,  P., 1991, “A Differential Geometric Approach to the Multibody System Dynamics,” ZAMM, Z. angew. Math. Mech.,71(4), pp. 116–119.
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Hunt, K. H., 1978, Kinematic Geometry of Mechanism, Oxford University Press.
Müller,  A., and Maisser,  P., 2003, “A Lie Group Formulation of Kinematics and Dynamics of Constrained MBS and Its Application to Analytical Mechanics,” Multibody Systems Dynamics,9, pp. 311–352.
McPhee,  J. J., 1997, “A Unified Graph-Theoretic Approach to Formulating Multibody Dynamics Equations in Absolute or Joint Coordinates,” J. Franklin Inst., 334B(3), pp. 431–445.
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Hervé,  J. M., 1978, “Analyze structurelle des mechanismes par groupe des deplacements,” Mech. Mach. Theory, 13, pp. 437–450.

Figures

Grahic Jump Location
Choice of reference and joint frames
Grahic Jump Location
Cut joint kinematics and the associated transformations
Grahic Jump Location
Planar 4 bar mechanism in a singular configuration
Grahic Jump Location
A spherical 4 bar mechanism
Grahic Jump Location
X mechanism in a singular configuration
Grahic Jump Location
A 6R mechanism with one degree of freedom

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