Recursive Dynamic Algorithm of Open-Chain Multibody System

摘要

Open-chain multibody systems have been extensively studied because of their widespread application. Based on the structural characteristics of such a system, the relationship between its hinged bodies was transformed into recursive constraint relationships among the position, velocity, and acceleration of the bodies. The recursive relationships were used along with the Huston-Kane method to select the appropriate generalized coordinates and determine the partial velocity of each body and to develop an algorithm of the entire system. The algorithm was experimentally validated; it has concise steps and low susceptibility to error. Further, the algorithm can readily solve and analyze open-chain multibody systems.