An improved Kane's method for multibody dynamics

Quan Hu*, Yinghong Jia, Shijie Xu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)

Abstract

This paper presents an improved Kane's method for automatically generating the equations of motion of arbitrary multibody systems. The notions of partial velocity matrix and partial angular velocity matrix are introduced. Each body's contribution to the system's generalized inertial force is expressed in a similar manner, which makes it amenable to computer solutions. All the kinematic quantities' recursive relations are developed to improve the modeling efficiency. The motion constraints are handled by the new form of Kane's equation. The final mathematical model is of the same dimensions with the generalized speeds and involves no Lagrange multipliers; therefore, it's useful for control system design. The simulation of a space platform with two manipulators is compared between the proposed method and recursive algorithm. The results validate the algorithm's accuracy.

Original languageEnglish
Pages (from-to)968-972
Number of pages5
JournalLixue Xuebao/Chinese Journal of Theoretical and Applied Mechanics
Volume43
Issue number5
Publication statusPublished - Sept 2011
Externally publishedYes

Keywords

  • Dynamics
  • Kane's equation
  • Motion constraints
  • Multibody system

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Hu, Q., Jia, Y., & Xu, S. (2011). An improved Kane's method for multibody dynamics. Lixue Xuebao/Chinese Journal of Theoretical and Applied Mechanics, 43(5), 968-972.