Dynamics of Multibody Systems With Known Configuration Changes

[+] Author and Article Information
J. J. McPhee, R. N. Dubey

Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario, Canada N2L 3G1

J. Appl. Mech 58(1), 215-221 (Mar 01, 1991) (7 pages) doi:10.1115/1.2897153 History: Received July 13, 1989; Revised October 30, 1989; Online March 31, 2008


The equations of motion are derived for a system with inertial properties that are varying in time as a result of known relative motions between the rigid bodies comprising the system. This vector-dyadic formulation has been encoded into a computer program, making use of the conformal rotation vector for the representation of rotations. The numerical simulation of two different physical systems is presented in order to illustrate the dynamic effects of the changing inertial properties, and the usefulness of the encoded formulation for modeling these effects.

Copyright © 1991 by The American Society of Mechanical Engineers
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