Symbolic vector/dyadic multibody formalism for tree-topology systems

摘要: A multibody formalism is presented that can be applied to automatically generate efficient equations of motion for a system rigid bodies in tree topology. The built on Kane's analysis method and described using vector/dyadic notation. In addition defining way formulate motion, it specifies many details the have formerly involved judgments made by dynamicist. These include "rule thumb" issues such as 1) making modeling simplifications, 2) choosing state variables, 3) introducing intermediate 4) coordinate systems represent vectors, 5) recursive vs nonrecursive formulations. has been automated computer algebra language supports algebra, small variable simplification options, introduction new symbols. companion paper describes this provides an example spacecraft system. Results shown illustrate high computational efficiency simulation code.