Order N Formulation for Flexible Multibody Systems in Tree Topology: Lagrangian Approach

An order N algorithm is developed for dynamic simulation of  exible multibody systems in tree topology with open as well as closed branches. The joints between the bodies permit slew and translation degrees of freedom. Applicationof the chain rule of differentiation to the Lagrangeequationsofmotion in conjunctionwith positionand velocity transformations leads to the factorized mass matrix and an order N algorithm for the forward dynamics computation. The constrained degrees of freedom are incorporated by the Lagrangemultipliers. Computation of the forward dynamics of  exible multibody systems using a Lagrangian order Nmethod represents an innovation of considerable importance.An example of the space-platform-basedmobilemanipulatorsystem complements the development.

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