论文信息 - Multi-body systems with open chains: Graph-theoretic models

Multi-body systems with open chains: Graph-theoretic models

Abstract On the basis of a hybrid formulation which was developed earlier for the graph-theoretic analysis of an isolated rigid-body system, this paper presents a model for a multi-body system with open kinematic chains. A new method for modelling a joint is presented, although the present discussion is restricted to the study of spherical joints. The manner in which the generalized coordinates for translation are chosen is governed by purely topological considerations whereas the choice of rotational coordinates is guided by the properties of Euler parameters which are normalized quaternions. A spinning top serves as an illustrative example.

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