A state-space dynamical representation for multibody mechanical systems. I: Systems with tree configuration

DOI10.1007/BF01170956MaRDI QIDQ761058zbMATH OpenFDO

Authors R. E. Roberson, Richard Schwertassek

Publication date 1984

Published in Acta Mechanica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF01170956

zbMATH Keywords

digital simulationgeneralized constraint forcesmultibody mechanical systemstree configuration

Mathematics Subject Classification ID

Software, source code, etc. for problems pertaining to mechanics of particles and systems (70-04) Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10)

Review text

The second author and \textit{J. Wittenburg} [Proc. 3rd Congr. IFAC, Vol. 1, Book 3, Paper 46D, London: Butterworth (1966)] developed a formalism for digital simulation of multibody mechanical systems (the computer programs based on this and other formalisms permit the integration of the equations of motion of complex mechanical systems, which deal with many technical problems). In this paper the authors review extensively this formalism and illustrate how to obtain, within this framework, the state space equations of motion for systems with tree configuration. They give also the relations for the determination of generalized constraint forces.

Recommendations

• A state-space dynamical representation for multibody mechanical systems. I: Systems with closed loops
• Symbolic vector/dyadic multibody formalism for tree-topology systems
• Analytische Dynamik von Mehrkörpersystemen
• An order n formulation for the motion simulation of general multi-rigid-body tree systems
• scientific article; zbMATH DE number 3850504

Cites work

• A form of the translational dynamical equations for relative motion in systems of many non-rigid bodies
• Formulation of Equations of Motion for Complex Spacecraft
• scientific article; zbMATH DE number 3566245 (Why is no real title available?)
• scientific article; zbMATH DE number 3589771 (Why is no real title available?)
• scientific article; zbMATH DE number 3338399 (Why is no real title available?)
• Kinematical equations for bodies whose rotation is described by the Euler-Rodrigues parameter.
• Nichtlineare Bewegungsgleichungen großer Mehrkörpersysteme
• Rechnergest�tztes Aufstellen der Bewegungsgleichungen gew�hnlicher Mehrk�rpersysteme
• Stabilization of constraints and integrals of motion in dynamical systems
• The path matrix of a graph, its construction and its use in evaluating certain products

Cited in

(12)

• Dynamical equations for treeshaped multi-rigid-body systems
• Dynamical equations of constrained robotic devices
• A highly redundant coordinate formulation for constrained rigid bodies
• A dynamical formalism for unrooted systems of rigid bodies
• A numerical model for railroad freight car-to-car end impact
• scientific article; zbMATH DE number 3850504 (Why is no real title available?)
• Multibody Kinematical Equations in Terms of Relative Variables
• Symbolic vector/dyadic multibody formalism for tree-topology systems
• Point-connected rigid bodies in a topological tree
• Analytische Dynamik von Mehrkörpersystemen
• A state-space dynamical representation for multibody mechanical systems. I: Systems with closed loops
• The path matrix of a graph, its construction and its use in evaluating certain products

This page was built for publication: A state-space dynamical representation for multibody mechanical systems. I: Systems with tree configuration

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q761058)