Czasopismo
2007
|
Vol. 11, nr 1
|
5-19
Tytuł artykułu
Autorzy
Wybrane pełne teksty z tego czasopisma
Warianty tytułu
Języki publikacji
Abstrakty
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.
Czasopismo
Rocznik
Tom
Strony
5-19
Opis fizyczny
Bibliogr. 14 poz.
Twórcy
autor
- Dept. of Mathematics, College of Science, King Saud University (Al-Qasseem Branch) P.O. Box 237, Buraidah 81999, KSA
Bibliografia
- [1] Denavit, J., Hartenberg, R. S.: A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices, ASME Journal of Applied Mechanics, pp. 215-221, 1955.
- [2] Sheth P. N. and Uicker, Jr. J. J.: IMP (Integrated Mechanisms Program), A Computer-Aided Design Analysis System for Mechanisms Linkages, ASME Journal of Engineering for Industry, Vol. 94, pp. 454, 1972.
- [3] Orlandea, N., Chace, M. A., And Calahan, D. A.: A Sparsity-Oriented Approach to Dynamic Analysis and Design of Mechanical Systems, Part I and II, ASME Journal of Engineering for Industry, Vol. 99, pp. 773-784, 1977.
- [4] Nikravesh P. E.: Computer Aided Analysis of Mechanical Systems, Prentice-Hall, Englewood Cliffs, N.J., 1988.
- [5] De Jalon, J. G. and Bayo, E.: Kinematic and dynamic simulation of multibody systems, Springer, 1994.
- [6] Kim S. S., and Vanderploeg, M.J.: A General and Effcient Method for Dynamic Analysis of Mechanical Systems Using Velocity Transformation, ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 108, No. 2, pp. 176-182, 1986.
- [7] Nikravesh, P. E., and Gim, G.: Systematic Construction of the Equations of Motion for Multibody Systems Containing Closed Kinematic Loop, ASME Design Conference, 1989.
- [8] De Jalon, J. G., Unda, J., Avello, A., and Jimenez, J. M.: Dynamic analysis of three-dimensional mechanisms in 'Natural' coordinates, ASME Paper No. 86-DET-137, 1986.
- [9] Attia, H. A.: A Computer-Oriented Dynamical Formulation with Applications to Multibody Systems, Ph.D. Dissertation, Department of Engineering Mathematics and Physics, Faculty of Engineering, Cairo University, 1993.
- [10] Nikravesh, P. E. and Attia, H. A.: Construction of the equations of motion for multibody dynamics using point and joint coordinates, Computer-Aided Analysis of Rigid and Flexible Mechanical Systems, Kluwer Academic Publications, NATO ASI, Series E: Applied Sciences-vol. 268, pp. 31-60, 1994.
- [11] Attia, H. A.: Formulation of the equations of motion for the RRRR robot manipulator, Transactions of the Canadian Society for Mechanical Engineers, vol. 22, No. 1, pp. 83-93, 1998.
- [12] Attia, H. A.: Equations of motion of planar mechanical systems based on particle dynamics and a recursive algorithm, Proceedings of the Institution of Mechanical Engineers (IMechE) Part K: Journal of Multi-body Dynamics, Vol. 218, No. 1, pp. 31-38, 2004.
- [13] Goldstein, H.: Classical mechanics, Addison-Wesley, Reading, Mass. 1950.
- [14] Gear, C. W.: Differential-algebraic equations index transformations, SIAM Journal of Scientific and Statistical Computing 9, pp. 39-47, 1988.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.baztech-article-LOD9-0011-0013