Forward Dynamics of Open-Loop Multibody Mechanisms Using an Efficient Recursive Algorithm Based on Canonical Momenta

摘要

A new method for establishing the equations of motion of multibody mechanisms based on canonical momenta is introduced in this paper. In absence of constraints, the proposed forward dynamics formulation results in a Hamiltonian set of 2n first order ODEs in the generalized coordinates q and the canonical momenta p. These Hamiltonian equations are derived from a recursive Newton-Euler formulation. As an example, it is shown how, in the case of a serial structure with rotational joints, an O(n) formulation is obtained. The amount of arithmetical operations is considerably less than acceleration based O(n) formulations.