A recursive algorithm for generating the equations of motion of spatial mechanical systems with application to the five-point suspension |
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Authors: | Email author" target="_blank">Hazem?Ali?AttiaEmail author |
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Affiliation: | (1) Department of Mathematics, College of Science, King Saud University, (Al-Qasseem Branch), P.O.Box 237, 81999 Buraidah, KSA |
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Abstract: | In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented.
The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational
coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the
concepts of linear and angular momenta. Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic
joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point
suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation. |
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Keywords: | Multibody System Dynamics Equations of Motion System of Rigid Bodies Mechanisms Machine Theory |
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