Multibody Dynamics Formulation based on Relative Cartesian Coordinates for Subsystem Dynamic Analysis

부분 시스템 해석을 위한 상대 직교 좌표를 이용한 다물체 동역학 공식

Multibody dynamics formulation has been developed based on relative cartesian coordinates for subsystem analysis. Relative cartesian coordinates are defined with respect to a reference body of a subsystem. Relative cartesian formulation inherits the same merits of absolute cartesian formulation, such as generality and easy implementation. Two methods have been applied. One is Largrange Multiplier Elimination method and the other is independent coordinate method. A 1/4 car simulation has been carried out to verify the formulations. Since both methods provide identical results, it proves the validity of the formulation.