Modeling hybrid parameter multiple body systems: A different approach (Q1804476)

The derivation of a general methodology for developing equations of motion for hybrid parameter multiple body (HPMB) systems is presented. A graph locates this approach in a ``tree road map'' of the general topic. The methodology is variational in nature, but uses vector algebra as a useful quality of Newton's method. The procedure is formulated in the system's constrained-free subspace of the configuration space, thus satisfying all holonomic and nonholonomic constraints automatically without the need to include Lagrange multipliers and constraint forces and generating a minimal set of hybrid equations with the boundary conditions. Two important aims are that ``a simple method may make it possible to bring HPMB modeling out of the academic domain and into use by product designers'' and that ``a simple (and ultimately, an automated) method will make it possible for researchers to rapidly regenerate models based on new continuum assumptions''. The spatial dimensions of the continuum bodies are not restricted, and the inter-body connections are completely general. The method can be extended to higher-order continuum assumptions. Finally, the method is demonstrated on a flexible two-link planar manipulator.