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11 December 2005 Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach
Hazem Ali Attia
J. Appl. Math. 2005(4): 365-382 (11 December 2005). DOI: 10.1155/JAM.2005.365

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.

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Hazem Ali Attia. "Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach." J. Appl. Math. 2005 (4) 365 - 382, 11 December 2005. https://doi.org/10.1155/JAM.2005.365

Information

Published: 11 December 2005
First available in Project Euclid: 22 December 2005

zbMATH: 1092.70003
MathSciNet: MR2204920
Digital Object Identifier: 10.1155/JAM.2005.365

Rights: Copyright © 2005 Hindawi

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Vol.2005 • No. 4 • 11 December 2005
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