Recursive Dynamics Algorithm for Multibody Systems with Prescribed Motion
نویسندگان
چکیده
This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multibody systems. Changes to the prescribed/non{prescribed nature of hinges can be implemented during run{time since they are handled with very low overhead in the algorithm.
منابع مشابه
A real-time recursive dynamic model for vehicle driving simulators
This paper presents the Real-Time Recursive Dynamics (RTRD) model that is developed for driving simulators. The model could be implemented in the Driving Simulator. The RTRD can also be used for off-line high-speed dynamics analysis, compared with commercial multibody dynamics codes, to speed up mechanical design process. An overview of RTRD is presented in the paper. Basic models for specific ...
متن کاملEfficient Generalized Speeds in a Recursive Formulation of Flexible Multibody Dynamics
A recursive formulation of the dynamical equations of an articulated multibody system with flexible components is given in terms of efficient motion variables for elastic motion and hinge rotation about revolute, Hooke and spherical joints. We treat motion under external forces, as well as prescribed motion with internal loads calculation, and show computational efficiency of the formulation wi...
متن کاملForward Dynamics of Multibody Systems: A Recursive Hamiltonian Approach
The increase in processing power and the theoretical breakthroughs achieved in multibody systems dynamics have improved the usefulness of dynamic simulations to such an extent that the development of a whole range of applications has been triggered. Dynamic simulations are used for the analysis of mechanisms, virtual prototyping, simulators, computer animation, advanced control, etc. and are ga...
متن کاملSpatial Operator Algebra for Multibody System Dynamics 1
This paper describes a new spatial operator algebra for the dynamics of general{topology rigid multibody systems. Spatial operators allow a concise and systematic formulation of the dynamical equations of motion of multibody systems and the development of e cient computational algorithms. Equations of motion are developed for progressively more complex systems: serial chains, topological trees,...
متن کاملSpatial Operator Algebra for Multibody System Dynamics
This paper describes a new spatial operator algebra for the dynamics of general{topology rigid multibody systems. Spatial operators allow a concise and systematic formulation of the dynamical equations of motion of multibody systems and the development of e cient computational algorithms. Equations of motion are developed for progressively more complex systems: serial chains, topological trees,...
متن کامل