Journal of Applied Mathematics 
Volume 2005 (2005), Issue 4, Pages 365-382
doi:10.1155/JAM.2005.365

Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach

Hazem Ali Attia1,2

 1Department of Engineering Mathematics and Physics, Faculty of Engineering, El-Fayoum University, El-Fayoum, Egypt
2Department of Mathematics, College of Science, A-Qasseem University, P.O. Box 237, Buraidah 81999, Saudi Arabia
Received 28 September 2004; Revised 17 August 2005

Abstract

A dynamic model for multi-rigid-body systems which consists of interconnected rigid bodies based on particle dynamics and a recursive approach is presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. A closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.