On the use of linear graph theory in multibody system dynamics

摘要: Multibody dynamics involves the generation and solution of equations motion for a system connected material bodies. The subject this paper is use graph-theoretical methods to represent multibody topologies formulate desired set equations; discussion available solving these differential-algebraic beyond scope work. After brief introduction topic, review linear graphs their associated topological arrays presented, followed in turn by matrices generating various graph-theoretic equations. appearance graph theory number existing formulations then discussed, distinguishing between approaches that absolute (Cartesian) coordinates those employ relative (joint) coordinates. These are contrasted with formal approaches, which both kinematic dynamic automatically generated from single representation system. concludes summary results suggestions further research on modelling mechanical systems.