Journal of Applied Mathematics

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

Hazem Ali Attia

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Abstract

A dynamic model for multi-rigid-body systems which consists of interconnected rigid bodies based on particle dynamics and a recursive approach is presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. A closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.

Article information

Source
J. Appl. Math., Volume 2005, Number 4 (2005), 365-382.

Dates
First available in Project Euclid: 22 December 2005

Permanent link to this document
https://projecteuclid.org/euclid.jam/1135272205

Digital Object Identifier
doi:10.1155/JAM.2005.365

Mathematical Reviews number (MathSciNet)
MR2204920

Zentralblatt MATH identifier
1092.70003

Citation

Attia, Hazem Ali. Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach. J. Appl. Math. 2005 (2005), no. 4, 365--382. doi:10.1155/JAM.2005.365. https://projecteuclid.org/euclid.jam/1135272205


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