RESEARCH PAPERS: Mechanisms Papers

Euler Parameters in Computational Kinematics and Dynamics. Part 2

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

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

O. K. Kwon

Dept. of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242

R. A. Wehage

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

J. Mech., Trans., and Automation 107(3), 366-369 (Sep 01, 1985) (4 pages) doi:10.1115/1.3260723 History: Received July 10, 1984; Online November 19, 2009


In this paper a methodology for formulating kinematic constraint equations and equations of motion for constrained mechanical systems is presented. Constraint equations and transformation matrices are expressed in terms of Euler parameters. The kinematic velocity and acceleration equations, and the equations of motion are expressed in terms of physical angular velocity of the bodies. An algorithm for solving the constrained equations of motion using a constraint stabilization technique is reviewed. Significant reduction in computation time can be achieved with this formulation and the accompanying algorithm as compared with the method presented in Part 1.

Copyright © 1985 by ASME
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