Publisher : The Korean Society of Mechanical Engineers
DOI : 10.22634/KSME-A.19184.108.40.206
Title & Authors
A dynamic analysis for constrained multibody systems using pseudo-inverse and projection matrix Kim, Oe-Jo; Yoo, Wan-Suk;
In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.