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Spatial Operator Algebra for multibody system dynamicsThe Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.
Document ID
19920052138
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Rodriguez, G.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Jain, A.
(JPL Pasadena, CA, United States)
Kreutz-Delgado, K.
(California, University La Jolla, United States)
Date Acquired
August 15, 2013
Publication Date
March 1, 1992
Publication Information
Publication: Journal of the Astronautical Sciences
Volume: 40
ISSN: 0021-9142
Subject Category
Numerical Analysis
Accession Number
92A34762
Distribution Limits
Public
Copyright
Other

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