Efficient Simulation of Tree-Structured, Free-Floating Multibody Systems Using Momentum Integrals*
Titel:
Efficient Simulation of Tree-Structured, Free-Floating Multibody Systems Using Momentum Integrals*
Auteur:
Agrawal, Sunil Kumar Schwertassek, Richard
Verschenen in:
Mechanics based design of structures & machines
Paginering:
Jaargang 24 (1996) nr. 1 pagina's 89-103
Jaar:
1996
Inhoud:
The kinematic simulation of a free-floating multibody system, with joint motion commands as inputs and inertial description of the motion as outputs, can be performed by the following methods: (1) joint commands are treated as rheonomic inputs to a multibody dynamics code and the motion of the free-floating base is computed by integrating the resulting dynamic differential equations of motion; (2) the kinematics is coupled with momentum integrals of equations of motion of the system to result in a map between the inertial velocities and joint velocities, which on integration results in inertial description of the system. The first method requires the full simulation tools of multibody dynamics, while the second method constructs the same information starting at the velocity level. The second viewpoint results in a compact mapping between the joint velocities and inertial velocities of the system, which is useful for motion planning. The objective of this paper is to develop the equations for kinematic simulation of a general tree-structured, free-floating system using the second method. Some important contributions are (1) explicit description of the momentum integrals, (2) explicit mapping between inertial velocities and the joint velocities of the system, and (3) an efficient computational procedure for formulation of the necessary equations.
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