A Recursive Approach for Dynamic Analysis of Multibody Systems with Applications to Vehicle Dynamics

摘要

In this paper, the dynamic analysis of a vehicle with semi-trailing A-arm suspensions i's presented. The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the concepts of linear and angular momentums. Closed-chain system is transformed to open-chain system by cutting suitable kinematic joints and introducing cut-joint constraints. The results of the simulation demonstrate the generality and simplicity of the dynamic formulation.