Abstract
In this chapter, a methodology for automatic generation of the equations of motion for rigid multibody systems is reviewed. The methodology is based on two formulations: body-coordinate formulation that uses Newton–Euler equations; and joint-coordinate formulation that employs relative coordinates. A systematic transformation process from the body into the joint-coordinate formulation is described. This methodology provides an effective and efficient formulation for constructing the equations of motion for multibody systems, in general, and for robotic devices in particular. A simple example is provided to demonstrate the implication of the methodology. In the final section, a list of some available commercial and free multibody dynamic software is presented.
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References
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© 2013 Springer-Verlag London
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Nikravesh, P.E. (2013). Multibody Dynamics Formulation. In: Carbone, G. (eds) Grasping in Robotics. Mechanisms and Machine Science, vol 10. Springer, London. https://doi.org/10.1007/978-1-4471-4664-3_3
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DOI: https://doi.org/10.1007/978-1-4471-4664-3_3
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Publisher Name: Springer, London
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Online ISBN: 978-1-4471-4664-3
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