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On the dynamics of chain systemsA computer-oriented method for obtaining dynamical equations of motion for chain systems is presented. A chain system is defined as an arbitrarily assembled set of rigid bodies such that adjoining bodies have at least one common point and such that closed loops are not formed. The equations of motion are developed through the use of Lagrange's form of d'Alembert's principle. The method and procedure is illustrated with an elementary study of a tripod space manipulator. The method is designed for application with systems such as human body models, chains and cables, and dynamic finite-segment models.
Document ID
19750032747
Document Type
Conference Paper
Authors
Huston, R. L.
Passerello, C. E. (Cincinnati, University Cincinnati, Ohio, United States)
Date Acquired
August 8, 2013
Publication Date
November 1, 1974
Subject Category
MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Report/Patent Number
ASME PAPER 74-WA/AUT-11
Meeting Information
American Society of Mechanical Engineers, Winter Annual Meeting(New York, NY)
Funding Number(s)
CONTRACT_GRANT: NGL-36-004-014
Distribution Limits
Public
Copyright
Other