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Topological Modeling Approach of Multibody System Dynamics for Lifting Simulation of Floating Crane  

Ham, Seung-Ho (대우조선해양 선박해양연구소)
Cha, Ju-Hwan (서울대학교 공학연구소)
Lee, Kyu-Yeul (서울대학교 조선해양공학과 및 해양시스템 공학연구소)
Publication Information
Korean Journal of Computational Design and Engineering / v.14, no.4, 2009 , pp. 261-270 More about this Journal
Abstract
We can save a lot of efforts and time to perform various kinds of multibody system dynamics simulations if the equations of motion of the multibody system can be formulated automatically. In general, the equations of motion are formulated based on Newton's $2^{nd}$law. And they can be transformed into the equations composed of independent variables by using velocity transformation matrix. In this paper the velocity transformation matrix is derived based on a topological modeling approach which considers the topology and the joint property of the multibody system. This approach is, then, used to formulate the equations of motion automatically and to implement a multibody system dynamics simulation program. To verify the the efficiency and convenience of the program, it is applied to the lifting simulation of a floating crane.
Keywords
Topological Modeling Approach; Multibody System Dynamics; Floating Crane; Lifting Simulation;
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