Application of graph theory to the determination of kinetic energy of rigid body systems

DOI10.1016/0016-0032(87)90048-2MaRDI QIDQ1102139zbMATH OpenOpenAlexFDO

Authors Krzysztof Arczewski

Publication date 1987

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0016-0032(87)90048-2

zbMATH Keywords

graph theorykinetic energy of rigid body systemspath matrixplanar motionsix degree-of-freedom rigid body systemtree structure

Mathematics Subject Classification ID

Graph theory (including graph drawing) in computer science (68R10) Kinematics of mechanisms and robots (70B15) Applications of graph theory to circuits and networks (94C15)

Review text

This paper extends the studies of \textit{J. Wittenburg} on: (*) ``Dynamics of systems of rigid bodies (1977; Zbl 0363.70004) using the graph theory. An important problem in the dynamic analysis of mechanical systems is the determination of the Lagrangian and specially of the kinetic energy. The author presents a new method for the calculation of the kinetic energy for a system of N rigid bodies having a tree structure (*), by mean of the graph theory. Expression of the kinetic energy is obtained in terms of the translational velocities \(\vec u_ i\) and rotational velocities \({\vec \omega}_ i\) \((i=1,...,N)\) of the solids. This expression contains essential system data (i.e. inertia characteristics and locations of certain points within the system) and the topological informations by means of the path matrix \(P^{(1)}\). This approach offers a systematic expression which can be used for many different systems. Detailed calculations are performed in the case of planar motion.

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Cites work

• Determination of Christoffel symbols of the first kind for a class of rigid body systems by topological considerations
• scientific article; zbMATH DE number 3566245 (Why is no real title available?)

Cited in

(11)

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• Graph theoretical approach. I: Determination of kinetic energy for a class of particle systems
• Graph theoretical approach. II: Determination of generalized forces for a class of systems consisting of particles and springs
• Graph theoretical approach. III: Equations of motion of a class of constrained particle systems
• Computer aided analysis and optimal design of mechanical systems using vector-network techniques
• Friction models and stress recovery methods in vehicle dynamics modelling
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• scientific article; zbMATH DE number 1134885 (Why is no real title available?)
• Analysis of multibody systems with flexible plates using variational graph-theoretic methods
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