A geometrical interpretation and uniform matrix formulation of multibody system dynamics

DOI10.1002/1521-4001(200104)81:4%3C247::AID-ZAMM247%3E3.0.CO;2-DMaRDI QIDQ2722650zbMATH OpenFDO

Authors W. Blajer

Publication date 2 July 2001

Published in ZAMM. Zeitschrift für Angewandte Mathematik und Mechanik (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/1521-4001(200104)81:4%3C247::AID-ZAMM247%3E3.0.CO;2-D

zbMATH Keywords

constrained multibody systemsd'Alembert's principleGauss' principlegeometric interpretationGibbs-Appell equationsJourdain's principleKane's equationsLagrange's equationsMaggi's equationsNewton's laws

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Dynamics of multibody systems (70E55) Holonomic systems related to the dynamics of a system of particles (70F20) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Review text

The author presents a comprehensive exposition of a geometric formulation of governing equations of constrained multibody systems. The formulation employs a matrix notation which envelops various dynamics principles and procedures (e.g. Newton's laws, d'Alembert's principle, Jourdain's principle, Gauss' principle, Lagrange's equations, Kane's equations, Gibbs-Appell equations, and Maggi's equations). That is, the author provides a geometric interpretation of these principles. The author claims that his formulation is intuitive, compact, broadly applicable, and computational (suitable for algorithm development). This reviewer agrees and believes the paper could be of interest and use to practitioners, as well as theoreticians.

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Cited in

(12)

• A geometric unification of constrained system dynamics
• A new perspective towards decomposition of the generalized inertia matrix of multibody systems
• Lie-group integration method for constrained multibody systems in state space
• A rigorous proof for the equivalence of the projective Newton-Euler equations and the Lagrange equations of second kind for spatial rigid multibody systems
• Modelling multi-body systems using the master-slave approach
• A DAE formulation for the dynamic analysis and control design of cranes executing prescribed motions of payloads
• Geometric stiffening in multibody dynamics formulations
• Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction
• Methods for constraint violation suppression in the numerical simulation of constrained multibody systems - A comparative study
• Eliminating constraint drift in the numerical simulation of constrained dynamical systems
• Geometric methods and formulations in computational multibody system dynamics
• Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification

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