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Closed-Chain Dynamics

  • Abhinandan Jain
Chapter

Abstract

The subject of this chapter is the dynamics of closed-chain multibody systems. These are systems whose underlying digraphs are not trees, but may be multiply- connected and include directed cycles, as illustrated in Fig. 8.6 on page 152. Section 9.6.2 on page 185 discussed some of the hurdles in extending SKOmodels to closed- chain systems. The issues identified included the fact that the SKO operator is not nilpotent when the digraph has directed cycles, and that the hinge generalized coor- dinates are not independent when there are multiply-connected nodes in the system digraph.

Keywords

Span Tree Linear Complementarity Problem Constraint Force Nonlinear Complementarity Problem Unilateral Constraint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Jet Propulsion LaboratoryPasadenaUSA

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