Abstract
The mathematical modelling of the dynamics of a helicopter underslung system consisting of multiple rigid bodies interconnected by cables is described in this paper. The differential equations of motion are derived using the matrix form of Kane’s method. This avoids the enormous complexity involved in symbolic derivations, which are usually available in the published literature. The generalized coordinates and generalized speeds are selected suitably to derive the kinematical relationships describing the motion of the joints and centres of gravity of the different bodies present in the underslung system. The formulated model is validated using the principle of conservation of mechanical energy neglecting the dissipative forces. Simulation results demonstrating the characteristic motion of the system are presented.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
