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摘要
A new formalism of the equations of motion for a general system with dynamic behavior is developed and presented in this paper. Despite the tremendous progression made in the field of multibody dynamics, the following question was raised: how are the physical parameters of a system involved in the inertia, centrifugal, and Coriolis terms? Generally expressed under a compact formulation, the equations of motion are nevertheless formulated using recursive processes or require heavy intermediate calculations. Accordingly, it can be concluded that the complete comprehension of the equations of motion has not been reached. Therefore, they have to be formulated in a more suitable way respecting various constraints simultaneously. These constraints were defined as follows: the equations of motion need to (i) be analytical, (ii) be direct, (iii) highlight clearly how the system's structural parameters are involved in the equations, (iv) be compact. Thus, reaching a formulation considering the previous constraints could allow for a better understanding of multibody dynamics. Based on the equations of Newton-Euler, a new formalism that satisfies these constraints has been developed. The first form was reached that provides a compact expression and highlights directly the relation between the structural parameters and the dynamics of a system. In addition, to obtain the direct relation between the system's structural parameters and each term due to the dynamic and environment forces, the second form is generated. In this framework, the analytical expressions of the inertia tensor, the torques due to the centrifugal and Coriolis forces of a general multibody system are exposed.
- 出版日期2013-2
