Equations of Motion for Structures in Terms of Quasi-Coordinates

[+] Author and Article Information
Roger D. Quinn

Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio 44106

J. Appl. Mech 57(3), 745-749 (Sep 01, 1990) (5 pages) doi:10.1115/1.2897086 History: Received September 12, 1988; Revised April 30, 1989; Online March 31, 2008


A form of Lagrange’s equations in terms of quasi-coordinates (Boltzmann/Hamel equations) is presented. Identities are introduced which permit a straightforward method for formulating the equations of motion for structures for which the kinetic and potential energies are explicit functions of angular orientation. This formulation may be utilized once the energies are expressed in matrix form as functions of angular velocities and coordinate transformation matrices. This method is particularly useful for a large class of problems in the dynamics of structures including spacecraft, robots, ground vehicles, and aircraft.

Copyright © 1990 by The American Society of Mechanical Engineers
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