Dynamic Analysis of Multi-Rigid-Body Systems

[+] Author and Article Information
V. K. Gupta

Technical Staff, Bell Telephone Laboratories, Holmdel, N. J.

J. Eng. Ind 96(3), 886-892 (Aug 01, 1974) (7 pages) doi:10.1115/1.3438457 History: Received June 26, 1973; Online July 15, 2010


A method is presented for formulating and solving the Newton-Euler equations of motion of a system of interconnected rigid bodies. The digital simulation may involve numerical integration of the kinematic equations as well as the dynamic equations. The reaction forces and torques resulting from rigid constraints imposed at the connecting joints are also determined. The derivation of kinematic expressions for first and higher derivatives is demonstrated based on direct differentiation of the rotation matrix in the spirit of the classical vector approach. A representative problem in spatial mechanism analysis is solved and illustrated with numerical results.

Copyright © 1974 by ASME
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In