Formulation of a class of higher pair joints in multibody systems using joint coordinates

DOI10.1023/A:1009712518724MaRDI QIDQ1306152zbMATH OpenOpenAlexFDO

Authors C. Balling

Publication date 4 March 2001

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

Full work available at URL https://doi.org/10.1023/a:1009712518724

zbMATH Keywords

constraint equationsjoint coordinatesmultibody systemsseparation variablesspatial point contact

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60)

Review text

The autor discusses the title problem with a focus upon spatial point contact between the surfaces of two interacting bodies. The objective is to produce a formulation suitable for incorporation into general purpose multibody dynamics computer programs. The procedure is to temporarily separate the bodies, then introduce corresponding separation variables, and finally to reestablish the connection through constraint equations. Several examples are provided.

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Cited in

(1)

• Kinematic analysis of a universal spatial mechanism containing a higher pair based on tori

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