Abstract
Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using geometric conditions built into each joint. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed constraint formulation of relative and Cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. The kinematic analysis of a Macpherson strut suspension system is carried out to illustrate the use and efficiency of the new formulation.
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