Screw-matrix method in dynamics of multibody systems |
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Authors: | Liu Yanzhu |
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Institution: | (1) Department of Engineering Mechanics, Shanghai Jiao Tong University, Shanghai, China |
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Abstract: | In the present paper the concept of screw in classical mechanics is expressed in matrix form, in order to formulate the dynamical
equations of the multibody systems. The mentioned method can retain the advantages of the screw theory and avoid the shortcomings
of the dual number notation. Combining the screw-matrix method with the tool of graph theory in Roberson/Wittenberg formalism.
We can expand the application of the screw theory to the general case of multibody systems. For a tree system, the dynamical
equations for eachj-th subsystem, composed of all the outboard bodies connected byj-th joint can be formulated without the constraint reaction forces in the joints. For a nontree system, the dynamical equations
of subsystems and the kinematical consistency conditions of the joints can be derived using the loop matrix. The whole process
of calculation is unified in matrix form. A three-segment manipulator is discussed as an example.
This work is supported by the National Natural Science Fund. |
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Keywords: | dynamics of multibody system matrix method in rigid body dynamics screw theory dynamics of manipulation robots dynamics of spatial mechanisms |
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