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Recursive Formulation For The Dynamic Simulation of Multibody Systems

Attia H. A.

Mechanics and Mechanical Engineering

2007

Vol. 11, nr 1

5-19

In this paper, recursive dynamic formulation for the dynamic simulation of multibody systems are 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. Closed-chain system is transformed to open-chain by cutting suitable kinematic joints and introducing cut-joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.