Symbolic processing of multiloop mechanism dynamics using closed-form kinematics solutions

DOI10.1023/A:1009743909765MaRDI QIDQ1371484zbMATH OpenOpenAlexFDO

Authors T. Krupp, Andrés Kecskeméthy, M. Hiller

Publication date 2 December 1998

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

Full work available at URL https://doi.org/10.1023/a:1009743909765

zbMATH Keywords

constraint equationscontrol mechanism of helicoptergeometric-algebraic methodssmallest independent loopssoftware package SYMKINsystem of recursively solvable polynomials of degree twowheel suspension

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of a rigid body (70B10) Kinematics of mechanisms and robots (70B15)

Review text

A method to generate automatically the motion equations of multi-loop multibody systems is described. The aim is to find symbolic closed form solutions at position, velocity and acceleration level. The basic idea is to decompose the complex system into a set of independent simple loops, to generate the symbolic equations, and to reassemble the whole system. It turns out that closed form solutions are more efficient for mechanisms for which the constraint equations can be formulated as a system of recursively solvable polynomials of degree two. The described algorithm is impemented in a software package called SYMKIN, which is used to demonstrate the efficiency of the proposed method for two examples, namely a simple wheel suspension, and a rather complicated control mechanism of a helicopter.

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