Abstract
In this chapter, we study a constraint embedding approach [74] that allows the development of SKO models for closed-chain multibody systems. Chapter 11 dis- cussed the dynamics of closed-chain multibody systems and described the aug- mented dynamics approach, where the system is decomposed into a spanning tree SKOmodel subject to cut-edge constraints. Although this approach is able to exploit the SKO techniques to a degree, it suffers from the use of non-minimal general- ized coordinates.While the alternate projected dynamics formulation uses minimal generalized coordinates, it no longer satisfies the requirements for an SKO model. The constraint embedding process uses the sub-graph aggregation process to work around these limitations to develop SKO models for closed-chain systems
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Constraint Embedding. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_15
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_15
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