Hybrid coordinate approach for the modelling and simulation of multibody systems

The main goal of the present work is to provide an add-on scheme for the formulation of multibody dynamics, based on natural coordinates, in regard to ideally balanced rigid bodies with high rotational spin, e.g. gyroscopes. The underlying aim of this approach is to achieve higher numerical accuracy whenever the preferred axis of rotation coincides with the balanced main axis of the body. This will be achieved by seperating the spin of the balanced rigid body along the denoted axis as an additional angular coordinate, whereas the other rotations will be covered by a carried frame, parameterized via natural coordinates. At the same time the carried frame provides a link to the existing modelling framework in terms of natural coordinates, enabling a straightforward implementation into existing multibody systems (e.g. rotary crane 2]). (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)