Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach (Q2494987): Difference between revisions
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scientific article
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English | Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach |
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Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach (English)
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30 June 2006
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Summary: We present a dynamic model for multi-rigid-body systems which consists of interconnected rigid bodies based on particle dynamics and a recursive approach. The method uses the concepts of linear and angular momentums to generate the rigid-body equations of motion in terms of Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. A closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.
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open-chain system
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closed-chain system
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