Abstract
Exact nonlinear differential equations are developed for large motions of articulated rigid body systems such as mechanisms, vehicles, robots etc.. Parameters entering the equations are, among other quantities, the number of bodies, the number and location of joints interconnecting the bodies and the kinematical characteristics of the individual joints. The number of equations equals the total number of degrees of freedom of the system. The equations are developed in an explicit standard form. A computer program for the symbolic (i.e. non-numerical) generation of the equations is described. The user of this program has a free choice of generalized coordinates. The only input data required is a standard set of system parameters which includes the chosen coordinates.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Fischer, O., “Theoretische Grundlagen der Mechanik lebender Mechanismen (Theoretical Foundation for the Mechanics of Living Mechanisms)”, Teubner, Leipzig, 1906
Wittenburg, J., “Dynamics of Systems of Rigid Bodies”, Teubner, Stuttgart, 1977, Russian translation Moscow 1980, Chinese translation Peking 1983
Popov, E.P., Vereschtschagin, A.V., Senkevic, S.L., “Manipulazionnye Roboty, Dynamika i Algoritmy”, Moscow, 1978
Paul, B., “Kinematics and Dynamics of Planar Machinery”, Prentice Hall, 1979
Vukobratovic, M., Potkonjak, V., “Scientific Fundamentals of Robotics 1: Dynamics of Manipulation Robots”, Springer, Berlin, 1982
Kane, T., Likins, P., Levinson, D., “Spacecraft Dynamics”, McGraw-Hill, New York, 1983
Wittenburg, J., “Dynamics of Multibody Systems”, Proc. XVth IUTAM/ICTAM Congr., Toronto, 1980
Wittenburg, J., “A New Correction Formula for Euler-Rodrigues Parameters”, ZAMM, Vol. 62, 1982, pp. 495–497
Branin, F.H., “The Relation Between Kron’s Method and the Classical Methods of Network Analysis”, Matrix and Tensor Quart., Vol. 12, 1962, pp. 69–105
Roberson, R.E., Wittenburg, J., “A Dynamical Formalism for an Arbitrary Number of Interconnected Rigid Bodies. With Reference to the Problem of Satellite Attitude Control”, Proc. 3rd IFAC Congr., London, 1966, 46D.2–46D.9
Roberson, R.E., “A Path Matrix, its Construction and its Use in Evaluating Certain Products”, Comp. Meth. in Appl. Mech., to appear in Vol.151
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1984 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wittenburg, J. (1984). Analytical Methods in Mechanical System Dynamics. In: Haug, E.J. (eds) Computer Aided Analysis and Optimization of Mechanical System Dynamics. NATO ASI Series, vol 9. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-52465-3_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-52465-3_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-52467-7
Online ISBN: 978-3-642-52465-3
eBook Packages: Springer Book Archive