Recursive Formulation for the Dynamic Analysis of Open Loop Deformable Multibody Systems

摘要

In this paper, a recursive formulation for the spatial kinematic and dynamic analysis of open chain mechanical systems containing interconnected deformable bodies, each of which may undergo large translational and rotational displacements, is developed. The multibody mechanical systems in general can be classified into two main groups: open and closed chains. The mathematical models of such systems can be formulated using Newton-Euler equations, Lagrange's equation or using variations of Newton-Euler and Lagrange's equations. Chace (1967) proposed a method for the analysis of highly constrained, multi-degree of freedom mechanical systems using the relative coordinates. In his work, the second order derivatives were used to formulate the joint kinematic constraint equations and the kinetic and potential energies of each body in the system were written in terms of the relative coordinates. A set of nonlinear simultaneous differential equations which represent the motion of each body in the system were then obtained using the Lagrangian formulation. Reprints. (jes)