Abstract
Mechanical systems are generally classified as open-loop (serial and/or tree type) and closed-loop systems according to their architecture. In this chapter, a dynamic formulation for open-loop systems is proposed to compute constraint wrenches, i.e., the reaction moments and forces at the joints. It is based on the Newton-Euler equations of motion and the concept of the DeNOC matrices. The DeNOC matrices are the logically split natural orthogonal complement (NOC) matrix that was originally proposed in [69].
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© 2009 Springer-Verlag Berlin Heidelberg
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Chaudhary, H., Saha, S.K. (2009). Dynamics of Open-loop Systems. In: Dynamics and Balancing of Multibody Systems. Lecture Notes in Applied and Computational Mechanics, vol 37. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78179-0_2
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DOI: https://doi.org/10.1007/978-3-540-78179-0_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-78178-3
Online ISBN: 978-3-540-78179-0
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