Archive of Issues
Russia Perm
Section  Mechanics 
Title  Classification of the models of rigid multibody systems applied for the numerical analysis of mechanical structures' dynamic behavior 
Author(s)  Ivanov V.N.^{a}, Dombrovskii I.V.^{b}, Nabokov F.V.^{b}, Shevelev N.A.^{b}, Shimanovskii V.A.^{a} 
Affiliations  Perm State National Research University^{a}, Perm National Research Polytechnical University^{b} 
Abstract  The classification of the dynamic equations forms for the rigid multibody systems with tree structure has been presented. The classification is based on the compact matrix forms of multibody systems' kinematic and dynamic equations derived through the matrix of kinematic structure and geometrical approach for relative motion description. The unified form of motion's equations is suitable for representing and comparing of various approaches to the modeling of rigid multibody systems' dynamics. The comparative analysis of computational efficiency has been carried out in relation to various methods of formulation and solution for motion equations of rigid multibody systems. 
Keywords  dynamics of multibody systems, timedomain method, matrix computations 
UDC  531.011, 531.8 
MSC  70E55 
DOI  10.20537/vm120213 
Received  28 February 2012 
Language  Russian 
Citation  Ivanov V.N., Dombrovskii I.V., Nabokov F.V., Shevelev N.A., Shimanovskii V.A. Classification of the models of rigid multibody systems applied for the numerical analysis of mechanical structures' dynamic behavior, Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki, 2012, issue 2, pp. 139155. 
References 

Full text 