A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics (Q1810797)
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| Language | Label | Description | Also known as |
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| English | A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics |
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A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics (English)
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9 June 2003
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The authors use screw algebraic methods to develop the kinematics and dynamics of rigid multibody systems with holonomic constraints. This allows for a purely algebraic derivation of the Lagrangian equations of motion. Both open and closed kinematic chains are considered. The paper is theoretical. It could be of use to kinematicians and dynamicists working with large multibody systems.
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Lie-group formulations
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dynamics
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singularities
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open kinematic chains
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screw algebraic methods
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kinematics
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rigid multibody systems
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holonomic constraints
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Lagrangian equations of motion
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closed kinematic chains
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