Abstract
A new formulation for multibody system dynamics is developed based on the concept of dynamical balance. In particular, we address the problem how to compose two known subsystem dynamics to generate the equations of motion for a composite system. The principle states that dynamical balance should hold between two subsystems, or the so-called d'Alembertian wrenches and torques of two subsystems should balance each other, for composite systems. The notion of body twists and wrenches is utilized to describe the principle. According to the principle, the dynamical balance condition is obtained just by taking the dual expression of the kinematical constraint in terms of the d'Alembertian wrenches and torques of subsystem dynamics.
Similar content being viewed by others
References
Bae, D.S. and Haug, E.J., ‘A recursive formulation for constrained mechanical system dynamics: Part 1, open-loop systems’, Mechanics of Structures and Machines 15(3), 1987, 359–382.
Featherstone, R., Robot Dynamics Algorithms, Kluwer Academic Publishers, 1987.
Goldstein, H., Classical Mechanics, Addison-Wesley, 1980.
Haug, E.J., Intermediate Dynamics, Prentice-Hall, 1992.
Kane, T.R. and Levinson, D.A., Dynamics: Theory and Applications, McGraw-Hill Inc, 1985.
M{ü}ller, A. and Maißer, P., ‘A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics’, Multibody System Dynamics 9, 2003, 311–352.
Murray, R.M., Li, Z. and Sastry, S.S., A Mathematical Introduction to Robotic Manipulation, CRC Press, Inc, 1994.
Park, F.C., Bobrow, J.E. and Ploen, S.R., ‘A Lie group formulation of robot dynamics’, International Jr. of Robotics Research 14(6), 1995, 609–618.
Park, J., ‘Geometric integration on euclidean group with application to articulated multi-body Systems’, IEEE Trans. on Robotics, accepted, 2004.
Schiehlen, W., Multibody Systems Handbook, Springer-Verlag 1990.
Schiehlen, W., ‘Multibody system dynamics: Roots and perspectives’, Multibody System Dynamics 1, 1997, 149–188.
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was supported by the Korea Research Foundation Grant (KRF-2003-003-D00015).
Rights and permissions
About this article
Cite this article
Park, J. Principle of Dynamical Balance for Multibody Systems. Multibody Syst Dyn 14, 269–299 (2005). https://doi.org/10.1007/s11044-005-1356-y
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/s11044-005-1356-y