A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates

DOI10.1007/S11044-006-9028-0zbMath1119.70006OpenAlexW2080259739MaRDI QIDQ862925

Andreas Müller

Publication date: 25 January 2007

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-006-9028-0

zbMATH Keywords

Multibody systemsDynamics simulationKinematic loopsRedundant constraintsRelative coordinatesScrew systems

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55)

Related Items (5)

Modeling of static friction in closed-loop kinematic chains -- uniqueness and parametric sensitivity problems ⋮ Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems ⋮ Modeling and analysis of multiple impacts in multibody systems under unilateral and bilateral constrains based on linear projection operators ⋮ Generic mobility of rigid body mechanisms ⋮ Joint reactions in rigid body mechanisms with dependent constraints

Cites Work

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• A unified graph -- theoretic approach to formulating multibody dynamics equations in absolute or joint coordinates
• Joint reaction forces in multibody systems with redundant constraints
• Applications of the singular value decomposition in dynamics
• An improved formulation for constrained mechanical systems
• A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics
• Singular Value Decomposition for Constrained Dynamical Systems
• Lie Algebra and the Mobility of Kinematic Chains

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