engleski

Lie Group Modeling and Forward Dynamics Simulation of Multibody Systems. Part 1 : Topology and Kinematics

The paper presents a matrix formulation for the kinematics of multibody systems with kinematic loops that builds upon the Lie group properties of rigid body motions. An algorithmic approach to the modeling of multibody systems comprising rigid bodies is also presented. The kinematics is expressed in terms of the screw coordinates of the joints. Therewith it is possible to explicitly construct all objects in the Lagrangian equations of motion. With the help of the frame invariance of the formulation, the kinematics, and consequently, the equations of motion, can be expressed without the introduction of body-fixed reference frames. This enables the processing of CAD data which refers to a single (world) frame.

multibody systems; kinematics; screw systems; Lie groups; coordinate invariance; differential geometry; topological graphs; CAD

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