Screw-matrix method in dynamics of multibody systems

DOI10.1007/BF02487718MaRDI QIDQ3352569zbMATH OpenFDO

Authors Yan-Zhu Liu

Publication date 1988

Published in Acta Mechanica Sinica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF02487718

zbMATH Keywords

classical mechanicsconcept of screwconstraint reaction forcesgraph theorymultibody systemsRoberson-Wittenberg formalismthree-segment manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) (n)-body problems (70F10) Dynamics of a system of particles, including celestial mechanics (70F99)

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Cites work

• Duale Quaternionen in der Kinematik r�umlicher Getriebe. Eine anschauliche Darstellung

Cited in

(12)

• Applying screw theory to robot dynamics
• Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
• A new perspective towards decomposition of the generalized inertia matrix of multibody systems
• Screw and Lie group theory in multibody dynamics
• Time derivatives of screws with applications to dynamics and stiffness
• Application of the group and geometrical properties of \(E(3)\) to the problems of rigid-body systems
• An enhanced inverse dynamic and joint force analysis of multibody systems using constraint matrices
• A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body
• Analytische Mechanik polarer Systeme
• Application of Screw Theory to Rigid Body Dynamics
• Matrix formalism used to describe the inertial properties in multibody dynamics
• Geometric methods and formulations in computational multibody system dynamics

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