Joint coordinate method for analysis and design of multibody systems: Part 2. System topology

Gwanghun Gim, Parviz E. Nikravesh

Research output: Contribution to journalArticle

6 Scopus citations

Abstract

In Part 1 of this paper, the method of joint coordinate formulation for multibody dynamics was reviewed. The application of this method to forward and inverse dynamics, static equilibrium, and design sensitivity analyses was studied. In Part 2 of the paper, systematic procedures for constructing the necessary matrices for the joint coordinate formulation are discussed in detail. These matrices are; the primary and the secondary path matrices describing the topology of the system, the velocity transformation matrix, and the generalized inertia matrix. The procedures for constructing these matrices and other necessary elements for the joint coordinate formulation can easily be implemented in a computer program for analysis and design process.

Original languageEnglish (US)
Pages (from-to)26-34
Number of pages9
JournalKSME Journal
Volume7
Issue number1
DOIs
StatePublished - Mar 1 1993

Keywords

  • Generalized Inertia Matrix
  • Path Matrix
  • Topology
  • Velocity Transformation Matrix

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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