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    A Discrete Quasi-Coordinate Formulation for the Dynamics of Elastic Bodies

    Source: Journal of Applied Mechanics:;2007:;volume( 074 ):;issue: 002::page 231
    Author:
    G. M. T. D’Eleuterio
    ,
    T. D. Barfoot
    DOI: 10.1115/1.2189873
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The discretized equations of motion for elastic systems are typically displayed in second-order form. That is, the elastic displacements are represented by a set of discretized (generalized) coordinates, such as those used in a finite-element method, and the elastic rates are simply taken to be the time-derivatives of these displacements. Unfortunately, this approach leads to unpleasant and computationally intensive inertial terms when rigid rotations of a body must be taken into account, as is so often the case in multibody dynamics. An alternative approach, presented here, assumes the elastic rates to be discretized independently of the elastic displacements. The resulting dynamical equations of motion are simplified in form, and the computational cost is correspondingly lessened. However, a slightly more complex kinematical relation between the rate coordinates and the displacement coordinates is required. This tack leads to what may be described as a discrete quasi-coordinate formulation.
    keyword(s): Dynamics (Mechanics) , Deformation , Equations of motion , Equations , Stiffness , Displacement AND Hamilton's principle ,
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      A Discrete Quasi-Coordinate Formulation for the Dynamics of Elastic Bodies

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    http://yetl.yabesh.ir/yetl1/handle/yetl/135142
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    contributor authorG. M. T. D’Eleuterio
    contributor authorT. D. Barfoot
    date accessioned2017-05-09T00:22:33Z
    date available2017-05-09T00:22:33Z
    date copyrightMarch, 2007
    date issued2007
    identifier issn0021-8936
    identifier otherJAMCAV-26621#231_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/135142
    description abstractThe discretized equations of motion for elastic systems are typically displayed in second-order form. That is, the elastic displacements are represented by a set of discretized (generalized) coordinates, such as those used in a finite-element method, and the elastic rates are simply taken to be the time-derivatives of these displacements. Unfortunately, this approach leads to unpleasant and computationally intensive inertial terms when rigid rotations of a body must be taken into account, as is so often the case in multibody dynamics. An alternative approach, presented here, assumes the elastic rates to be discretized independently of the elastic displacements. The resulting dynamical equations of motion are simplified in form, and the computational cost is correspondingly lessened. However, a slightly more complex kinematical relation between the rate coordinates and the displacement coordinates is required. This tack leads to what may be described as a discrete quasi-coordinate formulation.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Discrete Quasi-Coordinate Formulation for the Dynamics of Elastic Bodies
    typeJournal Paper
    journal volume74
    journal issue2
    journal titleJournal of Applied Mechanics
    identifier doi10.1115/1.2189873
    journal fristpage231
    journal lastpage239
    identifier eissn1528-9036
    keywordsDynamics (Mechanics)
    keywordsDeformation
    keywordsEquations of motion
    keywordsEquations
    keywordsStiffness
    keywordsDisplacement AND Hamilton's principle
    treeJournal of Applied Mechanics:;2007:;volume( 074 ):;issue: 002
    contenttypeFulltext
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