Multi-body dynamics including the effects of flexibility and compliance

Abstract

New and recently developed concepts and ideas useful in obtaining efficient computer algorithms for solving the equations of motion of multi-body mechanical systems with flexible links are presented and discussed. These ideas include the use of Euler parameters, Lagrange's form of d'Alembert's principle, generalized speeds, quasi-coordinates, relative coordinates, and structural analysis techniques. The mechanical systems considered are linked bodies forming a tree structure, but with no “closed loops” permitted. An explicit formulation of the governing equations is presented.