Journal of Applied Mathematics
Volume 2005 (2005), Issue 4, Pages 365-382
Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach
1Department of Engineering Mathematics and Physics, Faculty of Engineering, El-Fayoum University, El-Fayoum, Egypt
2Department of Mathematics, College of Science, A-Qasseem University, P.O. Box 237, Buraidah 81999, Saudi Arabia
Received 28 September 2004; Revised 17 August 2005
Copyright © 2005 Hazem Ali Attia. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
A dynamic model for multi-rigid-body systems which consists of
interconnected rigid bodies based on particle
dynamics and a recursive approach is presented. The method uses the concepts of
linear and angular momentums to generate the rigid body equations
of motion in terms of the Cartesian coordinates of a dynamically
equivalent constrained system of particles, without introducing
any rotational coordinates and the corresponding rotational
transformation matrix. For the open-chain system, the equations of
motion are generated recursively along the serial chains. A
closed-chain system is transformed to open-chain by cutting
suitable kinematical joints and introducing cut-joint constraints.
An example is chosen to demonstrate the generality and simplicity
of the developed formulation.