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Comparison of quaternionic and rotationfree null space formalisms for multibody dynamics

  • In this article, we summarise the rotation-free and quaternionic parametrisation of a rigid body. We derive and explain the close interrelations between both parametrisations. The internal constraints due to the redundancies in the parametrisations, which lead to DAEs, are handled with the null space technique. We treat both single rigid bodies and general multibody systems with joints, which lead to external joint constraints. Several numerical examples compare both formalisms to the index reduced versions of the corresponding standard formulations.

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Author:H. Lang
URN (permanent link):urn:nbn:de:hbz:386-kluedo-16456
Serie (Series number):Berichte des Fraunhofer-Instituts für Techno- und Wirtschaftsmathematik (ITWM Report) (180)
Document Type:Report
Language of publication:English
Year of Completion:2010
Year of Publication:2010
Publishing Institute:Fraunhofer-Institut für Techno- und Wirtschaftsmathematik
Date of the Publication (Server):2010/07/21
Tag:Lagrangian mechanics; Parametrisation of rotations; constrained mechanical systems; differentialalgebraic equations; multibody dynamics
Faculties / Organisational entities:Fraunhofer (ITWM)
DDC-Cassification:5 Naturwissenschaften und Mathematik / 510 Mathematik
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011