Abstract
In the last few years a new method for kinematic and dynamic simulation of multibody problems has been developed by the authors at CEIT and University of Navarra. The most distinctive feature of this method is the use of a fully cartesian set of dependent coordinates; instead of describing the spatial position of a rigid body through the cartesian coordinates of a point and Euler angles or Euler parameters, this method uses the cartesian coordinates of two or more points and the cartesian components of one or more unit vectors rigidly attached to the body. Points and vectors can be shared between contiguous elements, keeping the number of variables moderate and contributing to the definition of pair constraints. With these coordinates the formulation has important advantages: constant mass matrix in the global reference frame, absence of Coriolis and centrifugal inertia forces in the dependent coordinates and a jacobian matrix much more easy to evaluate. The result is a very general and very efficient dynamic formulation.
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García de Jalón, J., Jiménez, J.M., Avello, A., Martín, F., Cuadrado, J. (1990). Real Time Simulation of Complex 3-D Multibody Systems With Realistic Graphics. In: Haug, E.J., Deyo, R.C. (eds) Real-Time Integration Methods for Mechanical System Simulation. NATO ASI Series, vol 69. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76159-1_14
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DOI: https://doi.org/10.1007/978-3-642-76159-1_14
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