Abstract
There is an extremely large body of literature dealing with the modelling and simulation of multibody systems, e.g. (Wittenburg in Dynamics of systems of rigid bodies. BG Teubner, Stuttgart, 1977; Haug in Computer-aided kinematics and dynamics of mechanical systems. Allyn and Bacon, Boston, 1989; Schiehlen in Multibody systems handbook. Springer-Verlag, Berlin, 1990; von Schwerin in Multibody system simulation: numerical methods, algorithms, and software. Springer, Berlin, 1991; Shabana in Dynamics of multibody systems, 2nd edn. Cambridge University Press, Cambridge, 1998; Rabier and Rheinboldt in Nonholonomic motion of rigid mechanical systems from a DAE viewpoint. SIAM, Philadelphia, 2000; Borri et al. in Multibody Syst Dyn 4:129–193, 2000). The importance of multi-body systems is also recognized in robotics where different approaches have been developed taking into account the control aspect as well (Craig in introduction to robotics: mechanics and control, 1986; Sciavicco and Siciliano in Modeling and control of robot manipulators. McGraw-Hill, New York, 1996).
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Notes
- 1.
This holds for planar motion of the bodies only, for in that case the rotation axis is orthogonal to the plane of the motion.
- 2.
There is also a DH modified scheme introduced by Craig [8]. In this scheme the frame i is attached to joint i. It is perhaps even simpler to use, but it is not used here.
- 3.
Simulation was conducted on a Toshiba laptop with Intel i7 (four core) 2.0 GHz processor, and 16 GB RAM, under Windows 7.1 operating system.
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Damić, V., Montgomery, J. (2015). Multibody Dynamics. In: Mechatronics by Bond Graphs. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-49004-4_9
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