Multi-Body Dynamics Including the Effects of Flexibility and Compliance

摘要

New and recently developed concepts and ideas useful in obtaining efficient computer algorithms for solving the equations of motion of multi-body mechanical systems with flexible links are presented and discussed. These ideas include the use of Euler parameters, Lagrange's form of d'Alembert's principle, generalized speeds, quasi-coordinates, relative coordinates, structural analysis techniques and body connection arrays. The mechanical systems considered are linked bodies forming a tree structure, but with no closed loops permitted. An explicit formulation of the equations of motion is presented. (Author)