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Recursive Dynamic Algorithm of Open-Chain Multibody System

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  • Ming Lu
  • Wenbin Gu
  • Jianqing Liu
  • Zhenxiong Wang
  • Zhisheng Jing
  • Guowei Qin
  • Shanchao Tu

Abstract

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.

Suggested Citation

  • Ming Lu & Wenbin Gu & Jianqing Liu & Zhenxiong Wang & Zhisheng Jing & Guowei Qin & Shanchao Tu, 2014. "Recursive Dynamic Algorithm of Open-Chain Multibody System," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-6, December.
    • Handle: RePEc:hin:jnlmpe:457682
    DOI: 10.1155/2014/457682
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