Geometric Mathematical Framework for Multibody System Dynamics

被引：0

作者：

Terze, Zdravko ^{[1
]}

Vrdoljak, Milan ^{[1
]}

Zlatar, Dario ^{[1
]}

机构：

[1] Fac Mech Eng & Naval Arch, Dept Aeronaut Engn, HR-10002 Zagreb, Croatia

来源：

NUMERICAL ANALYSIS AND APPLIED MATHEMATICS, VOLS I-III | 2010年 / 1281卷

关键词：

Multibody systems; Holonomic and non-holonomic constraints; Lie groups; Manifolds; Numerical integration; SIMULATION;

D O I：

10.1063/1.3497943

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The paper surveys geometric mathematical framework for computational modeling of multibody system dynamics. Starting with the configuration space of rigid body motion and analysis of it's Lie group structure, the elements of respective Lie algebra are addressed and basic relations pertinent to geometrical formulations of multibody system dynamics are surveyed. Dynamical model of multibody system on manifold introduced, along with the outline of geometric characteristics of holonomic and non-holonomic kinematical constraints.

引用

页码：1288 / 1291

页数：4

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