Scribd Logo
Загрузить

Добро пожаловать в Scribd!

  • Ball joint constraint expression

    Загружено:

    Lalo Angel
    22 просмотров2 страницы
    The document summarizes the derivation of the constraint expression for a ball joint (spherical joint) between two rigid bodies in a multibody system. It shows that the constraint is that a fixed point on one body must remain at the same location in inertial space as a fixed point on the other body. Taking two time derivatives of this expression yields the Udwadia-Kalaba form of the constraint, resulting in a 3x14 matrix and 3x1 vector that define the ball joint constraint for the system.

    Исходное описание:

    hvjbjiuougyfhghjlkh

    Оригинальное название

    How to Derive the Ball Joint Constraint Matrices

    Авторское право

    © © All Rights Reserved

    Доступные форматы

    PDF, TXT или читайте онлайн в Scribd

    Этот документ был вам полезен?

    Это неприемлемый материал?

    Пожаловаться на этот документ
    The document summarizes the derivation of the constraint expression for a ball joint (spherical joint) between two rigid bodies in a multibody system. It shows that the constraint is that a fixed point on one body must remain at the same location in inertial space as a fixed point on the other body. Taking two time derivatives of this expression yields the Udwadia-Kalaba form of the constraint, resulting in a 3x14 matrix and 3x1 vector that define the ball joint constraint for the system.

    Авторское право:

    © All Rights Reserved
    Скачайте в формате PDF, TXT или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    22 просмотров2 страницы

    Ball joint constraint expression

    Загружено:

    Lalo Angel
    The document summarizes the derivation of the constraint expression for a ball joint (spherical joint) between two rigid bodies in a multibody system. It shows that the constraint is that a fixed point on one body must remain at the same location in inertial space as a fixed point on the other body. Taking two time derivatives of this expression yields the Udwadia-Kalaba form of the constraint, resulting in a 3x14 matrix and 3x1 vector that define the ball joint constraint for the system.

    Авторское право:

    © All Rights Reserved
    Скачайте в формате PDF, TXT или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    из 2

    Balljoint(sphericaljoint)constraintexpression:apointfixedonbodyBmustbeatthesamelocationin

    inertialspaceasapointfixedonbodyC:

    pBC pCB

    C

    rB rC

    Invectornotation,thisis or 0.FortheUdwadia
    Kalabaformoftheconstraint,weneedtotaketwoderivativesofthisexpression.Thefirstderivative(in
    theNframe)is:

    SincepBCandpCBarefixedintheframesBandC,respectively,

    Thesecondderivative(intheNframe)is:

    Nowweneedtogetthingsintheform .TheQuIRKstatevectorconsistsofthecenterofmass
    positionforeachbodyandthequaternionrotationfromthebodytoinertialframe.


    Exploitingtherelations and ,


    0

    NowwecasteveryvectorontotheNbasisvectors:

    Asuperscriptrepresentstheskewsymmetriccrossproductmatrixformofavector,and isthe
    directioncosinematrixthattransformsavectorfromtheBbasistotheNbasiscoordinates.

    Nowweinserttheidentities and alongwiththeirderivatives:

    Finally,werearrangetermssothatthoseinvolvingthesecondderivativesofstatesareisolatedonone
    sideoftheexpression:

    Nowwehavethe314and31matrices:

    Вам также может понравиться