Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach

[摘要] A dynamic model for multi-rigid-body systems which consists ofinterconnected rigid bodiesbased on particle dynamics and a recursive approach is presented. The method uses the concepts oflinear and angular momentums to generate the rigid body equationsof motion in terms of the Cartesian coordinates of a dynamicallyequivalent constrained system of particles, without introducingany rotational coordinates and the corresponding rotationaltransformation matrix. For the open-chain system, the equations ofmotion are generated recursively along the serial chains. Aclosed-chain system is transformed to open-chain by cuttingsuitable kinematical joints and introducing cut-joint constraints.An example is chosen to demonstrate the generality and simplicityof the developed formulation.

[学科分类] 应用数学