TY - CHAP
T1 - Multibody dynamics formulation
AU - Nikravesh, Parviz E.
N1 - Publisher Copyright:
© Springer-Verlag London 2013.
PY - 2012
Y1 - 2012
N2 - In this chapter, a methodology for automatic generation of the equations of motion for rigid multibody systems is reviewed. The methodology is based on two formulations: body-coordinate formulation that uses Newton-Euler equations; and joint-coordinate formulation that employs relative coordinates. A systematic transformation process from the body into the joint-coordinate formulation is described. This methodology provides an effective and efficient formulation for constructing the equations of motion for multibody systems, in general, and for robotic devices in particular. A simple example is provided to demonstrate the implication of the methodology. In the final section, a list of some available commercial and free multibody dynamic software is presented.
AB - In this chapter, a methodology for automatic generation of the equations of motion for rigid multibody systems is reviewed. The methodology is based on two formulations: body-coordinate formulation that uses Newton-Euler equations; and joint-coordinate formulation that employs relative coordinates. A systematic transformation process from the body into the joint-coordinate formulation is described. This methodology provides an effective and efficient formulation for constructing the equations of motion for multibody systems, in general, and for robotic devices in particular. A simple example is provided to demonstrate the implication of the methodology. In the final section, a list of some available commercial and free multibody dynamic software is presented.
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U2 - 10.1007/978-1-4471-4664-3_3
DO - 10.1007/978-1-4471-4664-3_3
M3 - Chapter
AN - SCOPUS:85040531371
T3 - Mechanisms and Machine Science
SP - 57
EP - 76
BT - Mechanisms and Machine Science
PB - Springer Netherlands
ER -