KSME Journal

, Volume 7, Issue 1, pp 26–34 | Cite as

Joint coordinate method for analysis and design of multibody systems: Part 2. System topology

  • Gwanghun Gim
  • Parviz E. Nikravesh


In Part 1 of this paper, the method of joint coordinate formulation for multibody dynamics was reviewed. The application of this method to forward and inverse dynamics, static equilibrium, and design sensitivity analyses was studied. In Part 2 of the paper, systematic procedures for constructing the necessary matrices for the joint coordinate formulation are discussed in detail. These matrices are; the primary and the secondary path matrices describing the topology of the system, the velocity transformation matrix, and the generalized inertia matrix. The procedures for constructing these matrices and other necessary elements for the joint coordinate formulation can easily be implemented in a computer program for analysis and design process.

Key Words

Topology Path Matrix Velocity Transformation Matrix Generalized Inertia Matrix 


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  1. Gim, G. and Nikravesh, P.E., 1993, “Joint Coordinate Method for Analysis and Design of Multibody Systems: Part 1. System Equations” KSME Journal, Vol. 7, No. 1, pp. 14–25.Google Scholar
  2. Kim, S.S. and Vanderploeg M.J., 1986, “A General and Efficient Method for Dynamic Analysis of Mechanical Systems Using Velocity Transformations” ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 108, No. 2, pp. 176–182CrossRefGoogle Scholar

Copyright information

© The Korean Society of Mechanical Engineers (KSME) 1993

Authors and Affiliations

  • Gwanghun Gim
    • 1
  • Parviz E. Nikravesh
    • 2
  1. 1.R & D CenterHankook Tire Mfg. Co., LtdTaejonRepublic of Korea
  2. 2.Department of Aerospace and Mechanical EngineeringUniversity of ArizonaTucsonU.S.A

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