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Dynamic Analysis of Multirigid‐Body System Based on the Gauss Principle
Author(s) -
Lilov L.,
Lorer M.
Publication year - 1982
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.19820621006
Subject(s) - gauss , constraint (computer aided design) , computation , kinematics , mechanical system , context (archaeology) , translation (biology) , multibody system , computer science , rotation (mathematics) , expression (computer science) , basis (linear algebra) , rigid body , minification , rigid body dynamics , equations of motion , mathematics , mathematical optimization , algorithm , classical mechanics , artificial intelligence , geometry , physics , paleontology , biochemistry , chemistry , quantum mechanics , messenger rna , gene , biology , programming language
This paper on the basis of the Gauss principle an efficient computer oriented algorithm for solving the equations of motion of multibody mechanical system. No constraints on the type of the kinematic chain of the system are imposed, i.e. the system may contain an arbitrary number of “closed loops”. In the context of the investigation of the dynamics of the industrial manipulators, robots and similar mechanisms, the mechanical systems considered are linked rigid bodies with joints permitting relative rotation or translation. The successive computation is due to a suitable expression of the Gauss “leas constraint” and using of the powerful recently developed iterative programming methods for constraint and unconstrain minimization of a functional.