Open AccessDynamic model of multi‐rigid‐body systems based on particle dynamics with recursive approach
Author(s) -
Hazem Ali Attia
Publication year - 2005
Publication title -
journal of applied mathematics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.307
H-Index - 43
eISSN - 1687-0042
pISSN - 1110-757X
DOI - 10.1155/jam.2005.365
Subject(s) - rigid body , cartesian coordinate system , rigid body dynamics , chain (unit) , rotation (mathematics) , dynamics (music) , motion (physics) , transformation (genetics) , computer science , angular velocity , matrix (chemical analysis) , equations of motion , generality , transformation matrix , generalized coordinates , classical mechanics , control theory (sociology) , mathematics , physics , kinematics , geometry , biochemistry , chemistry , materials science , control (management) , composite material , astronomy , artificial intelligence , acoustics , gene , psychology , psychotherapist
A dynamic model for multi-rigid-body systems which consists ofinterconnected rigid bodies based on particle dynamics and a recursive approach is presented. The method uses the concepts oflinear and angular momentums to generate the rigid body equationsof motion in terms of the Cartesian coordinates of a dynamicallyequivalent constrained system of particles, without introducingany rotational coordinates and the corresponding rotationaltransformation matrix. For the open-chain system, the equations ofmotion are generated recursively along the serial chains. Aclosed-chain system is transformed to open-chain by cuttingsuitable kinematical joints and introducing cut-joint constraints.An example is chosen to demonstrate the generality and simplicityof the developed formulation
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