DocumentCode
749609
Title
Symbolic construction of models for multibody dynamics
Author
Kwatny, Harry G. ; Blankenship, Gilmer L.
Author_Institution
Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA
Volume
11
Issue
2
fYear
1995
fDate
4/1/1995 12:00:00 AM
Firstpage
271
Lastpage
281
Abstract
New algorithms are presented for deriving joint kinematic relations and these are integrated with Poincare´s form of Lagrange´s equations to generate the dynamical equations of motion for rigid multibody chains. Software is described which performs all of the required symbolic constructions. Examples are given
Keywords
mechanical engineering; robot kinematics; symbol manipulation; Lagrange´s equations; Poincare´s form; dynamical equations of motion; joint kinematic relations; multibody dynamics; rigid multibody chains; symbolic construction; Application software; Assembly; Computational modeling; Equations; Kinematics; Lagrangian functions; Notice of Violation; Robotics and automation; Robots; Software performance;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.370509
Filename
370509
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