• Robert E. Roberson
  • Richard Schwertassek


To provide the modeling options for both kinematic and dynamic reference frames, the location of any body must be described with respect to points O o or CM + respectively.


Multibody System Path Vector Tree Configuration Closed Kinematic Chain Dynamic Reference Frame 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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  1. 1.
    Hartenberg, R.S., Denavit, J., Kinematic Synthesis of Linkages, McGraw-Hill, NY, 1964.Google Scholar
  2. 2.
    Gear, C.W., “Differential-Algebraic Equations”, NATO Advanced Study Institute on Computer Aided Analysis and Optimization of Mechanical System Dynamics, E.J. Haug (ed.), Springer, Berlin, 1984, pp.323–334.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1988

Authors and Affiliations

  • Robert E. Roberson
    • 1
  • Richard Schwertassek
    • 2
  1. 1.Dept. of Applied Mechanics and Engineering SciencesUniversity of California, San DiegoLa JollaUSA
  2. 2.Institut für Dynamik der FlugsystemeDeutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt (DFVLR)WeßlingGermany

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