On multi-rigid-body system dynamics

Huston, Ronald L.; Passerello, C. E.

doi:10.1016/0045-7949(79)90019-1

Cited by 79 publications

(26 citation statements)

References 14 publications

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“…As an example, the relative rotation between any two links in Figure 3 can be described by a single angle ¢ corresponding to the revolute joint connecting the two links. The complete set of three relative coordinates for this four-bar mechanism can be defined in terms of the previous absolute coordinates: q~l = 01 t~2 -----02 --01 ¢3 = 03 -02 (21) corresponding to pin joints P1, P2, and P3. Note that it is not necessary to define the position of link 4 (the ground) relative to link 3.…”

Section: Relative (Joint) Coordinate Formulationsmentioning

confidence: 99%

“…If one is only interested in using the topological description to generate kinematic relationships, then alternatives to a linear graph representation are available in the literature. As an example, the tree topology of an open-loop multibody system is represented by Huston and Passerello [21] using a "body connection array", which is subsequently employed by Amirouche [22] to generate the loop closure equations for a general system of rigid and flexible bodies. Nikravesh and Gim [23] transform the absolute coordinate DAEs (18) and (19) to the set of equations (23) and (30) in relative coordinates using a topology-dependent velocity transformation matrix; Kim and Vanderploeg [24] have presented a systematic procedure for constructing this matrix using a modified version of the path matrix [T], in which all -1 's are replaced by +1 's.…”

Section: Relative (Joint) Coordinate Formulationsmentioning

confidence: 99%

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On the use of linear graph theory in multibody system dynamics

McPhee

1996

Nonlinear Dyn

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Abstract. Multibody dynamics involves the generation and solution of the equations of motion for a system of connected material bodies. The subject of this paper is the use of graph-theoretical methods to represent multibody system topologies and to formulate the desired set of motion equations; a discussion of the methods available for solving these differential-algebraic equations is beyond the scope of this work. After a brief introduction to the topic, a review of linear graphs and their associated topological arrays is presented, followed in turn by the use of these matrices in generating various graph-theoretic equations. The appearance of linear graph theory in a number of existing multibody formulations is then discussed, distinguishing between approaches that use absolute (Cartesian) coordinates and those that employ relative (joint) coordinates. These formulations are then contrasted with formal graph-theoretic approaches, in which both the kinematic and dynamic equations are automatically generated from a single linear graph representation of the system. The paper concludes with a summary of results and suggestions for further research on the graph-theoretical modelling of mechanical systems.

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Section: Relative (Joint) Coordinate Formulationsmentioning

confidence: 99%

Section: Relative (Joint) Coordinate Formulationsmentioning

confidence: 99%

On the use of linear graph theory in multibody system dynamics

McPhee

1996

Nonlinear Dyn

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“…The concepts of partial velocity arrays and the relative coordinates and the subsequent procedures have been developed for rigid body applications by Huston et al [14]. A recursive formulation of the multi-body dynamics has been carried out by a number of researchers [15,16], proves to be promising in terms of computational aspects.…”

Section: Introductionmentioning

confidence: 99%

Implementation of 3-D isoparametric finite elements on supercomputer for the formulation of recursive dynamical equations of multi-body systems

Shareef

Amirouche

1991

Nonlinear Dyn

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Kinematic formulation of the versatile three-dimensional isoparametric eight-noded brick element with six degrees of freedom at each node (three-translational and three-rotational), suitable for the discretization of flexible bodies with intricate geometric configurations, has been developed and implemented on the supercomputer IBM-309// for the simulation of dynamical mechanical systems. The pipelining feature of the above vector-processor has been exploited for achieving a significant order of magnitude in computational efficiency. The concepts of indexed reference arrays have been utilised in the development of dynamical equations of motion, eliminating expensive Boolean matrix multiplication operations. The algorithm developed is an improvement and extension of [7], with the implementation of the brick element formulation. The recursivc Kane's equations, modal analysis technique and strain energy principles are integrated into the procedure. The above technique is also applied to the constrained multi-body systems. An illustrative example of an spin-up maneuver of a space robot with three flexible links carrying a solar panel is presented. The prediction of dynamic behaviour of the system is carried out under a constrained environment and the effects of geometric stiflening and its subsequent restoring elastic forces arc demonstrated.

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“…The Multi-body method was developed in the 1980's [22,23] for the simulation of dynamic behaviour and the gross motion of systems of bodies connected by kinematical joints. This modelling method's usage of rigid planes and ellipsoids with pre-determined contact characteristics offers the advantage of unsurpassed processing speed [12,18,24] as well as ease of build and validation.…”

Section: Multi-body Modelmentioning

confidence: 99%

Development of Economical Vehicle Model for Pedestrian-Friendly Front-End Profile Study

Venkatason

Shasthri

Kadri

et al. 2014

Int. j. simul. model.

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An economical and deformable, hybrid model is developed for studying the effect of vehicle geometry on pedestrian fall kinematics and associated head injury. A simplified structure consisting of Finite Element surfaces and a Multi-body windshield is built using a series of iterative and non-iterative steps. The primary focus is not so much the stiffness characteristics of the structure, but rather the fall pattern and kinematic data of the pedestrian due solely to the vehicle front-end shape. Comprehensive validation is carried out whereby the fidelity of the model is reviewed for pedestrian crash kinematics and injury criteria as well as piecewise vehicle parts impact tests. The model is shown to hold up acceptably well against benchmarked values especially for the former, whereby very close head injury criteria values are obtained at identical impact locations. The model's notable features are its economical computational processing time and ease of modification.

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On multi-rigid-body system dynamics

Cited by 79 publications

References 14 publications

On the use of linear graph theory in multibody system dynamics

On the use of linear graph theory in multibody system dynamics

Implementation of 3-D isoparametric finite elements on supercomputer for the formulation of recursive dynamical equations of multi-body systems

Development of Economical Vehicle Model for Pedestrian-Friendly Front-End Profile Study

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