Reference : Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics using a L...

	Document type :	Scientific congresses and symposiums : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Mechanical engineering
	To cite this reference:	http://hdl.handle.net/2268/120012

Title :	Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics using a Lie Group Approach
Language :	English
Author, co-author :	Sonneville, Valentin [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
	Bruls, Olivier [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Publication date :	May-2012
Main document title :	Proceedings of the 2nd Joint International Conference on Multibody System Dynamics (IMSD)
On invitation :	No
Audience :	International
Event name :	2nd Joint International Conference on Multibody System Dynamics (IMSD)
Event date :	Mai 2012
Event place (city) :	Stuttgart
Event country :	Germany
Keywords :	[en] Multibody dynamics ; Lie group integrator ; mixed coordinates ; Kinematic joint
Abstract :	[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.
Funders :	Fonds pour la formation à la Recherche dans l'Industrie et dans l'Agriculture (Communauté française de Belgique) - FRIA
Target :	Researchers ; Professionals ; Students
Permalink :	http://hdl.handle.net/2268/120012

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