This paper presents a method for obtaining linearized state space representations of open or closed loop multibody dynamic systems. The paper develops a symbolic formulation for multibody dynamic systems which result in an explicit set of symbolic equations of motion. The symbolic equations are then used to perform symbolic linearizations. The resulting symbolic, linear equations are in terms of the system parameters and the equilibrium point, and are valid for any equilibrium point. Finally, a method is developed for reducing a linearized, constrained multibody system consisting of a mixed set of algebraic-differential equations to a reduced set of differential equations in terms of an independent coordinate set. An example is used to demonstrate the technique.
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September 1995
Research Papers
A Symbolic Formulation for Linearization of Multibody Equations of Motion
A. G. Lynch,
A. G. Lynch
Department of Mechanical Engineering, Iowa State University, Ames, IA 50011
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M. J. Vanderploeg
M. J. Vanderploeg
Department of Mechanical Engineering, Iowa State University, Ames, IA 50011
Search for other works by this author on:
A. G. Lynch
Department of Mechanical Engineering, Iowa State University, Ames, IA 50011
M. J. Vanderploeg
Department of Mechanical Engineering, Iowa State University, Ames, IA 50011
J. Mech. Des. Sep 1995, 117(3): 441-445 (5 pages)
Published Online: September 1, 1995
Article history
Received:
April 1, 1991
Revised:
February 1, 1992
Online:
December 11, 2007
Citation
Lynch, A. G., and Vanderploeg, M. J. (September 1, 1995). "A Symbolic Formulation for Linearization of Multibody Equations of Motion." ASME. J. Mech. Des. September 1995; 117(3): 441–445. https://doi.org/10.1115/1.2826698
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