Linearized Dynamics- A tensorial treatment based on the raw form of lagrange's equations

摘要

The objective of this paper is to give a consistent intrinsic derivation of the linearized perturbation equations (LPE) for mechanical multibody systems. These equations are developed from th raw form of Lagrange's equation. New expressions for various partial derivatives are formulated. Basic-kinetic-tensors-introduced in an earlier work - are shown to be an important tool in formulating LPEs, too. Global inertia concepts are discussed. The resulting formalism is computationally efficient and naturally a recursive procedure.