Reference : Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics using ...
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/2268/120012
Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics using a Lie Group Approach
English
Sonneville, Valentin mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Bruls, Olivier mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
May-2012
Proceedings of the 2nd Joint International Conference on Multibody System Dynamics (IMSD)
No
No
International
2nd Joint International Conference on Multibody System Dynamics (IMSD)
Mai 2012
Stuttgart
Germany
[en] Multibody dynamics ; Lie group integrator ; mixed coordinates ; Kinematic joint
[en] The matrix Lie group approach allows to formulate and solve the equations of motion of a multibody system in a parametrization-free framework. The kinematic joints and the rigidity constraints should also be formulated as constraint equations on the Lie group. Working on the Special Euclidean group SE(3), we introduce a method to obtain appropriate vectorial constraint equations in terms of mixed coordinates. Moreover, we present an absolute coordinates formulation, based on an relative coordinates elimination method, so that the minimum number of constraint equations necessary to describe the joints is used.
Fonds pour la formation à la Recherche dans l'Industrie et dans l'Agriculture (Communauté française de Belgique) - FRIA
Researchers ; Professionals ; Students
http://hdl.handle.net/2268/120012

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