Recursive Generation of Multibody System Equations in Terms of Graph Theoretic Concepts
- 1 June 1989
- journal article
- research article
- Published by Taylor & Francis in Mechanics of Structures and Machines
- Vol. 17 (2) , 197-218
- https://doi.org/10.1080/15397738909412816
Abstract
Kinematics of multibody systems are formulated based on graph theoretic models of systems with tree structure. Recursive computational sequences are defined and shown to efficiently yield position, velocity, and acceleration relationships. Alternate recursive dynamic formulations are derived, based on algorithms with and without elimination of joint relative coordinate accelerations. Computational efficiencies of the formulations are compared.Keywords
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