MBS Motion Equation Without Explicit Definition of Body-Fixed Reference Frames

摘要: Any description of rigid body motions requires body-fixed RFRs since the latter kinematically represent bodies and are necessary to define their inertia properties. Consequently there is no formulation without RFR. Nevertheless this does not necessarily mean that definition an indispensable step in MBS modeling.A reference frames one involve explicit express kinematics data MBS. In paper a presented only single spatial inertial frame model all kinematic dynamic properties It joint (axis position vector) as well tensors w.r.t. configuration That is, expressed virtual references coincides with configuration.Avoiding introduction significantly simplifies modeling. This beneficial for manual modeling but also gives rise much simpler codes. The approach discussed tree-topology closed loop systems. demonstrated planar slider-crank examples.Copyright © 2014 by ASME