Dynamic Analysis of Multirigid‐Body System Based on the Gauss Principle

摘要

Abstract This paper on the basis of the Gauss principle an efficient computer oriented algorithm for solving the equations of motion of multibody mechanical system. No constraints on the type of the kinematic chain of the system are imposed, i.e. the system may contain an arbitrary number of “closed loops”. In the context of the investigation of the dynamics of the industrial manipulators, robots and similar mechanisms, the mechanical systems considered are linked rigid bodies with joints permitting relative rotation or translation. The successive computation is due to a suitable expression of the Gauss “leas constraint” and using of the powerful recently developed iterative programming methods for constraint and unconstrain minimization of a functional.