Modeling of Elastically Coupled Bodies: Part II—Exponential and Generalized Coordinate Methods

[+] Author and Article Information
Ernest D. Fasse

Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ 85721

Peter C. Breedveld

Department of Electrical Engineering, University of Twente, Enschede, The Netherlands

J. Dyn. Sys., Meas., Control 120(4), 501-506 (Dec 01, 1998) (6 pages) doi:10.1115/1.2801492 History: Received December 10, 1997; Online December 03, 2007


This paper looks at spatio-geometric modelling of elastically coupled rigid bodies. Two methods are presented. In the first method constitutive equations are derived by associating rigid body displacements with twist displacements and then generating wrenches proportional to the twist displacements. In the second method consistitutive equations are derived by associating rigid body displacements with generalized coordinate displacements, generating generalized forces proportional to the displacements, and then computing corresponding wrenches. The application of these methods and the geometric method presented in the companion paper are illustrated in a nontrivial example.

Copyright © 1998 by The American Society of Mechanical Engineers
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