A matrix formulation for the dynamic analysis of spatial mechanisms using point coordinates and velocity transformation.
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| Title: | A matrix formulation for the dynamic analysis of spatial mechanisms using point coordinates and velocity transformation. |
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| Authors: | Attia, H. A.1 |
| Source: | Acta Mechanica. 2003, Vol. 165 Issue 3-4, p207-222. 16p. |
| Subjects: | Matrix groups, Dynamics, Speed, Kinematics |
| Abstract: | This paper presents a matrix formulation for the dynamic analysis of spatial mechanisms with Common types of kinematic joints. The formulation is derived in two steps. Initially an equivalent constrained system of particles that replaces the rigid bodies is constructed and used to define the configuration of the mechanical system. This results in a simple and straightforward procedure for generating the equations of motion in terms of the rectangular Cartesian coordinates of the particles without introducing any rotational coordinates. The equations of motion are then derived in terms of relative joint coordinates through the use of a velocity transformation matrix. The velocity transformation matrix relates the relative joint velocities to the Cartesian velocities. For the open loop case, this process automatically eliminates all of the non-working constraint forces and leads to an efficient integration of the equations of motion. For the closed loop case, suitable joints should be cut and few cut-joints constraint equations should be included for each closed loop. An example is used to demonstrate the generality and efficiency of the proposed method. [ABSTRACT FROM AUTHOR] |
| Copyright of Acta Mechanica is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 12482841 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: A matrix formulation for the dynamic analysis of spatial mechanisms using point coordinates and velocity transformation. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Attia%2C+H%2E+A%2E%22">Attia, H. A.</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Acta+Mechanica%22">Acta Mechanica</searchLink>. 2003, Vol. 165 Issue 3-4, p207-222. 16p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Matrix+groups%22">Matrix groups</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamics%22">Dynamics</searchLink><br /><searchLink fieldCode="DE" term="%22Speed%22">Speed</searchLink><br /><searchLink fieldCode="DE" term="%22Kinematics%22">Kinematics</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This paper presents a matrix formulation for the dynamic analysis of spatial mechanisms with Common types of kinematic joints. The formulation is derived in two steps. Initially an equivalent constrained system of particles that replaces the rigid bodies is constructed and used to define the configuration of the mechanical system. This results in a simple and straightforward procedure for generating the equations of motion in terms of the rectangular Cartesian coordinates of the particles without introducing any rotational coordinates. The equations of motion are then derived in terms of relative joint coordinates through the use of a velocity transformation matrix. The velocity transformation matrix relates the relative joint velocities to the Cartesian velocities. For the open loop case, this process automatically eliminates all of the non-working constraint forces and leads to an efficient integration of the equations of motion. For the closed loop case, suitable joints should be cut and few cut-joints constraint equations should be included for each closed loop. An example is used to demonstrate the generality and efficiency of the proposed method. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Acta Mechanica is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1007/s00707-003-0027-4 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 16 StartPage: 207 Subjects: – SubjectFull: Matrix groups Type: general – SubjectFull: Dynamics Type: general – SubjectFull: Speed Type: general – SubjectFull: Kinematics Type: general Titles: – TitleFull: A matrix formulation for the dynamic analysis of spatial mechanisms using point coordinates and velocity transformation. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Attia, H. A. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 11 Text: 2003 Type: published Y: 2003 Identifiers: – Type: issn-print Value: 00015970 Numbering: – Type: volume Value: 165 – Type: issue Value: 3-4 Titles: – TitleFull: Acta Mechanica Type: main |
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