Naslov
Forward Dynamics of Open-Loop Multibody Mechanisms Using an Efficient Canonical Momenta

Autori
Naudet, Joris ; Lefeber, Dirk ; Daerden, Frank ; Terze, Zdravko

Izvornik
Multibody System Dynamics (1384-5640) 10 (2003); 45-59

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
canonical momenta; Hamiltonian equations; forward dynamics; recursive algorithm

Sažetak
A new method for establishing the equations of motion of multibody mechanisms based on canonical momenta is introduced in this paper. In absence of constraints, the proposed forward dynamics formulation results in a Hamiltonian set of 2n first order ODEs in the generalized coordinates q and the canonical momenta p. These Hamiltonian equations are derived from a recursive Newton-Euler formulation. As an example, it is shown how, in the case of a serial structure with rotational joints, an O(n) formulation is obtained. The amount of arithmetical operations is considerably less than acceleration based O(n) formulations.

Izvorni jezik
Engleski

Znanstvena područja
Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA