Path defined directed graph vector (Pgraph) method for multibody dynamics

Dynamical modeling of complex systems may include multiple combinations of serial and tree topologies, as well as closed kinematic chain systems. Simulating of such systems is a costly task not only for run time but also for construction time when a model description and constraints are introduced....

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Bibliographic Details
Published in:Multibody system dynamics Vol. 43; no. 3; pp. 209 - 227
Main Authors: Yazar, Musa Nurullah, Yesiloglu, S. Murat
Format: Journal Article
Language:English
Published: Dordrecht Springer Netherlands 15.07.2018
Springer Nature B.V
Subjects:
Algorithms
Automotive Engineering
Complex systems
Computer simulation
Constraint modelling
Control
Dynamical Systems
Electrical Engineering
Engineering
Graph theory
Mathematical analysis
Mechanical Engineering
Methodology
Modelling
Optimization
Run time (computers)
Topology
Vectors (mathematics)
Vibration
Spatial operator algebra
Tree chain
Closed-chain
Constraint embedding
Open-chain
Newton–Euler formalism
Recursive computational algorithm
Model description
Multibody dynamics
Construction time efficiency
Linear graph theory
Complex topology
Serial chain
ISSN:1384-5640, 1573-272X
Online Access:Get full text
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Summary:Dynamical modeling of complex systems may include multiple combinations of serial and tree topologies, as well as closed kinematic chain systems. Simulating of such systems is a costly task not only for run time but also for construction time when a model description and constraints are introduced. This paper presents a systematic framework of a construction time efficient modeling methodology for complex systems by introducing a path defined directed graph vector ( Pgraph ) and the associated methodology based on Linear Graph Theory (LGT). Updating of body coordinate frame vectors which can be a challenge in complex topology systems is easily performed using the proposed method. This technique is especially useful for systems changing topology, such as walking mechanisms where bilateral and unilateral constraints are conditionally embedded. Although this is a general methodology, to be combined with many dynamical modeling algorithms available in the literature, here we demonstrate it using Spatial Operator Algebra (SOA), which is a recursive algorithm based on the Newton–Euler formalism.
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ISSN:1384-5640
1573-272X
DOI:10.1007/s11044-017-9595-2