On Cartesian stiffness matrices in rigid body dynamics: an energetic perspective

被引：10
|
作者：
Metzger, Melodie F. [2 ]
Senan, Nur Adila Faruk [1 ]
O'Reilly, Oliver M. [1 ]
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94706 USA
[2] Univ Calif San Francisco, Dept Orthopaed Surg, San Francisco, CA 94110 USA
来源：
MULTIBODY SYSTEM DYNAMICS | 2010年 / 24卷 / 04期
基金：
美国国家科学基金会;
关键词：
Rigid body; Rotation; Stiffness matrix; Cartesian stiffness matrix; Dual Euler basis; Euler angles; Conservative force fields; CONSTRAINTS; MOTIONS; JOINT;
D O I：
10.1007/s11044-010-9205-z
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
Several Cartesian stiffness matrices for a single rigid body subject to a conservative force field are developed in this paper. The treatment is based on energetic arguments and an Euler angle parameterization of the rotation of the rigid body is employed. Several new representations for the stiffness matrix are obtained and the relation to other works on Cartesian stiffness matrices and Hessians is illuminated. Additional details are presented with respect to determining the Cartesian stiffness matrix for a pair of rigid bodies, as well as for a system of rigid bodies constrained to a plane.
引用
收藏
页码：441 / 472
页数：32
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