A multibody dynamics equation formulation by momentum principle.

Details A multibody dynamics equation formulation by momentum principle. A multibody dynamics equation formulation by momentum principle.

Aug 1986

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1986asdy.conf..219t&link_type=abstract

Astrodynamics 1985, p. 219 - 238

Astronomy and Astrophysics

Astronomy

Astrodynamics

Scientific paper

Equations of motion are obtained using the momentum principle for an arbitrary collection of N rigid bodies that are interconnected by hinges in a tree configuration. Rotational and translational motions are permitted at the hinges. The derived equations are a set of first order nonlinear differential equations in Hamiltonian form, in that the system states are the generalized coordinates and the generalized momenta of the system. Also presented in this paper are the treatment of the equations of motion with constraints, and the computer implementation of the derived equations for multibody dynamics simulations.

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