Novel Approach to Multibody System Modeling: Cascading and Clustering
Publication: Journal of Aerospace Engineering
Volume 27, Issue 2
Abstract
A novel approach for discrete multibody system modeling is presented. The approach segments the multibody system into a series of subsystems with kinematic constraints. The equations of motion of the unconstrained subsystems are either easier to obtain or already exist. The Udwadia-Kalaba equation is then introduced to calculate the constraint forces due to the constraints. The approach does not require any auxiliary variables, such as Lagrange multipliers, and does not need to use any projection. It can systematically reach the model via clustering of the segments.
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Acknowledgments
Jin Huang thanks Professors Zhihua Zhong and Aiguo Cheng of Hunan University (China) for all their instructions and help on his research. The research is supported in part by National 973 Project of China under Grant 2010CB328005. It is also supported in part by the China Scholarship Council and the Graduate Student Innovation Program of Hunan Province (China).
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Published In
Journal of Aerospace Engineering
Volume 27 • Issue 2 • March 2014
Pages: 279 - 290
Copyright
© 2014 American Society of Civil Engineers.
History
Received: Mar 4, 2011
Accepted: Mar 2, 2012
Published online: Mar 8, 2012
Published in print: Mar 1, 2014
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