Simulation of constrained mechanical systems
نویسندگان
چکیده
منابع مشابه
Method for Distributed Forward Dynamic Simulation of Constrained Mechanical Systems
This paper presents a recursive algorithm for calculating the forward dynamics of general rigid-body systems using a subsystem approach that is well suited for parallel processing. It is an exact, noniterative algorithm and is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The calculation of accelerations has O(log(n)) time complexity on O...
متن کاملDynamic Simulation of Constrained Mechanical Systems Using Recursive Projection Algorithm
In this paper, the dynamic simulation of constrained mechanical systems that are interconnected of rigid bodies is studied using projection recursive algorithm. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotat...
متن کاملModeling and Tracking Line-Constrained Mechanical Systems
This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees...
متن کاملOn General Nonlinear Constrained Mechanical Systems
This paper develops a new, simple, general, and explicit form of the equations of motion for general constrained mechanical systems that can have holonomic and/or nonholonomic constraints that may or may not be ideal, and that may contain either positive semi-definite or positive definite mass matrices. This is done through the replacement of the actual unconstrained mechanical system, which ma...
متن کاملSingular constrained linear systems
In the linear system Ax = b the points x are sometimes constrained to lie in a given subspace S of column space of A. Drazin inverse for any singular or nonsingular matrix, exist and is unique. In this paper, the singular consistent or inconsistent constrained linear systems are introduced and the effect of Drazin inverse in solving such systems is investigated. Constrained linear system arise ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: PAMM
سال: 2007
ISSN: 1617-7061,1617-7061
DOI: 10.1002/pamm.200700900