Abstract
In Part 1 of this paper, the method of joint coordinate formulation for multibody dynamics was reviewed. The application of this method to forward and inverse dynamics, static equilibrium, and design sensitivity analyses was studied. In Part 2 of the paper, systematic procedures for constructing the necessary matrices for the joint coordinate formulation are discussed in detail. These matrices are; the primary and the secondary path matrices describing the topology of the system, the velocity transformation matrix, and the generalized inertia matrix. The procedures for constructing these matrices and other necessary elements for the joint coordinate formulation can easily be implemented in a computer program for analysis and design process.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Gim, G. and Nikravesh, P.E., 1993, “Joint Coordinate Method for Analysis and Design of Multibody Systems: Part 1. System Equations” KSME Journal, Vol. 7, No. 1, pp. 14–25.
Kim, S.S. and Vanderploeg M.J., 1986, “A General and Efficient Method for Dynamic Analysis of Mechanical Systems Using Velocity Transformations” ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 108, No. 2, pp. 176–182
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Gim, G., Nikravesh, P.E. Joint coordinate method for analysis and design of multibody systems: Part 2. System topology. KSME Journal 7, 26–34 (1993). https://doi.org/10.1007/BF02953142
Received:
Issue Date:
DOI: https://doi.org/10.1007/BF02953142