Abstract
This article describes a simple and easy to implement method for numerical computing of movement of general multibody mechanism. The method is suitable for two or three-dimensional space, rigid bodies and all types of kinematic joints. The main advantage of this method lies in the possibility of using very low discretization time step but with high computing performance due effective implementation. This approach has a positive effect to numerical stability, speed and resistance to discontinuous parameter changes. The usability of described method is verified through an experimental multibody system.
Highlights
Numerical solution of moving objects is an important theme, especially for mechanism simulations
Each common point of the body is represented by their own local coordinate system (LCS), while the position and orientation of the body itself, i.e. its center of gravity, will be determined in the global coordinate system (GCS)
E e (1 − cosθ) − e sinθ e e (1 − cosθ) + e sinθ cosθ + e (1 − cosθ) where e, e and e are the unit direction vector components of the general axis of rotation and θ is the angle of rotation
Summary
Numerical solution of moving objects is an important theme, especially for mechanism simulations These simulations are solved with applications called multi-body systems, where mechanisms Fig. 1 are assembled from rigid bodies, kinematic linkages, and other force interaction elements (e.g. external forces, springs, dampers, etc.). For the purposes of this article, only the solution to determine the body movements if all acting forces are known is going to be discussed These values are related to the body’s center of gravity.
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