A Formulation on the Special Euclidean Group for Dynamic Analysis of Multibody Systems

Abstract

This paper presents a finite element approach of multibody systems using the special Euclidean group SE(3) framework. The development leads to a compact and unified mixed coordinate formulation of the rigid bodies and the kinematic joints. Flexibility in the kinematic joints is also easily introduced. The method relies on local description of motions, so that it provides a singularityfree formulation and exhibits important advantages regarding numerical implementation. A practical case is presented to illustrate the method.