A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates

DOI10.1007/S11044-006-9028-0MaRDI QIDQ862925zbMATH OpenOpenAlexFDO

Authors Andreas Müller

Publication date 25 January 2007

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

Full work available at URL https://doi.org/10.1007/s11044-006-9028-0

zbMATH Keywords

Dynamics simulationKinematic loopsMultibody systemsRedundant constraintsRelative coordinatesScrew systems

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics
• A unified graph -- theoretic approach to formulating multibody dynamics equations in absolute or joint coordinates
• An improved formulation for constrained mechanical systems
• Applications of the singular value decomposition in dynamics
• scientific article; zbMATH DE number 3623000 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• scientific article; zbMATH DE number 867234 (Why is no real title available?)
• Joint reaction forces in multibody systems with redundant constraints
• Lie Algebra and the Mobility of Kinematic Chains
• Singular Value Decomposition for Constrained Dynamical Systems

Cited in

(6)

• Generic mobility of rigid body mechanisms
• Joint reactions in rigid body mechanisms with dependent constraints
• Modeling and analysis of multiple impacts in multibody systems under unilateral and bilateral constrains based on linear projection operators
• Modeling of static friction in closed-loop kinematic chains -- uniqueness and parametric sensitivity problems
• Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems
• Divide-and-conquer-based approach for the reaction uniqueness analysis in overconstrained multibody systems

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