Multibody dynamics; Lie group integrator; mixed coordinates; Kinematic joint
Abstract :
[en] The matrix Lie group approach allows to formulate and solve the equations of motion of a multibody system in a parametrization-free framework. The kinematic joints and the rigidity constraints should also be formulated as constraint equations on the Lie group. Working on the Special Euclidean group SE(3), we introduce a method to obtain appropriate vectorial constraint equations in terms of mixed coordinates. Moreover, we present an absolute coordinates formulation, based on an relative coordinates elimination method, so that the minimum number of constraint equations necessary to describe the joints is used.
Disciplines :
Mechanical engineering
Author, co-author :
Sonneville, Valentin ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics using a Lie Group Approach
Publication date :
May 2012
Event name :
2nd Joint International Conference on Multibody System Dynamics (IMSD)
Event place :
Stuttgart, Germany
Event date :
Mai 2012
Audience :
International
Main work title :
Proceedings of the 2nd Joint International Conference on Multibody System Dynamics (IMSD)
Funders :
FRIA - Fonds pour la Formation à la Recherche dans l'Industrie et dans l'Agriculture
