engleski

Geometric Mathematical Framework for Multibody System Dynamics

The paper surveys geometric mathematical framework for computational modeling of multibody system dynamics. Starting with the configuration space of rigid body motion and analysis of it’s Lie group structure, the elements of respective Lie algebra are addressed and basic relations pertinent to geometrical formulations of multibody system dynamics are surveyed. Dynamical model of multibody system on manifold introduced, along with the outline of geometric characteristics of holonomic and non-holonomic kinematical constraints.

Multibody systems; Holonomic and non-holonomic constraints; Lie groups; Manifolds; Numerical integration

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