Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)
- Volume 2 Issue 4
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- Pages.80-90
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- 1994
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- 1225-6382(pISSN)
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- 2234-0149(eISSN)
A Gemetric Kinematic Analysis of Constrained Multibody System
구속된 다물체 시스템을 위한 기하학적 운동구속론
Abstract
Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using relative coordinate kinematics between two adjacent reference frames. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed formulation of relative and cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. Possible singularity problem of para llelism constraints is resolved by introducing an extra generalized coordinate. Kinematic analysis of a McPherson strut suspension system are carried out to illustrate use and efficiency of the new formulation.
Keywords