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http://dx.doi.org/10.3795/KSME-A.2013.37.10.1261

Use of Parametric Generalized Coordinates for Kinematic Constraint Formulation of Low Degree-of-Freedom Joints  

Lee, Jung Keun (Dept. of Mechanical Engineering, Hankyong Nat'l Univ.)
Lee, Chul Ho (Dept. of Mechanical Engineering, Hanyang Univ.)
Bae, Dae Sung (Dept. of Mechanical Engineering, Hanyang Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.10, 2013 , pp. 1261-1267 More about this Journal
Abstract
In multibody mechanical systems, low-degree-of-freedom (DOF) joints such as revolute and translational joints are much more frequently used than high-DOF joints. In order to formulate kinematic constraint equations, especially for low-DOF joints, in an efficient and systematic manner, this paper presents a parametric generalized coordinate formulation as a new approach for describing constraint equations. In the proposed approach, joint constraint equations are formulated in terms of a mixed set of Cartesian and parametric generalized coordinates, which drastically reduces the complexity and computational cost of the partial derivatives of the constraints such as the constraint Jacobian. The proposed formulation is validated using a simple cylinder-crank system with an implicit integrator.
Keywords
Parametric Generalized Coordinates; Mixed Set of Generalized Coordinates; Joint Constraints; Constraint Equations;
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