Recursive Dynamic Algorithm of Open-Chain Multibody System

الملخص EN

Open-chain multibody systems have been extensively studied because of their widespread application.

Based on the structural characteristics of such a system, the relationship between its hinged bodies was transformed into recursive constraint relationships among the position, velocity, and acceleration of the bodies.

The recursive relationships were used along with the Huston-Kane method to select the appropriate generalized coordinates and determine the partial velocity of each body and to develop an algorithm of the entire system.

The algorithm was experimentally validated; it has concise steps and low susceptibility to error.

Further, the algorithm can readily solve and analyze open-chain multibody systems.