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RESEARCH PAPERS: Mechanisms Papers

Euler Parameters in Computational Kinematics and Dynamics. Part 1

[+] Author and Article Information
P. E. Nikravesh

Aerospace and Mechanical Engineering Department, The University of Arizona, Tucson, AZ 85721

R. A. Wehage

U.S. Army Tank and Automotive R&D Command, Warren, MI 48090

O. K. Kwon

Mechanical Engineering Department, The University of Iowa, Iowa City, IA 52242

J. Mech., Trans., and Automation 107(3), 358-365 (Sep 01, 1985) (8 pages) doi:10.1115/1.3260722 History: Received July 10, 1984; Online November 19, 2009

Abstract

This paper presents useful and interesting identities between Euler parameters and their time derivatives. Using these identities, kinematic constraints and equations of motion for constrained mechanical systems are derived. These equations can be developed into a computer program to systematically generate all of the necessary equations to model mechanical systems. The compact form of these equations makes it possible to develop a general-purpose computer program for dynamic analysis of mechanical systems suitable for operation on small computers with limited memory space.

Copyright © 1985 by ASME
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