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contributor authorXu, Xiaoming
contributor authorZhong, Wanxie
date accessioned2017-05-09T01:25:43Z
date available2017-05-09T01:25:43Z
date issued2016
identifier issn0021-8936
identifier otherjam_083_06_061006.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/160259
description abstractInertia plays a crucial role in the quaternionbased rigid body dynamics, the associated mass matrix, however, presents singularity in the traditional representation. Recent researches demonstrated that the singularity can be avoided by adding an extra term into kinetic energy via a multiplier. Here, we propose a modified inertia representation through splitting the kinetic energy into two parts, where a square term of quaternion velocity, governed by an extra inertial parameter, is separated from the original expression. We further derive new numerical integration schemes in both Lagrange and Hamilton framework. Error estimation shows that the extra inertial parameter has a significant influence on the numerical error in discretization, and an iterative scheme of optimizing the extra inertial parameter to reduce the numerical error in simulation is proposed for quaternionbased rigid body dynamics. Numerical results demonstrate that the mean value of the three principal moments of inertia is a reasonable value of the extra inertia parameter which can impressively improve the accuracy in most cases, and the iterative scheme can further reduce the numerical error for numerical integration, taking the implementation in Lagrange's frame as an example.
publisherThe American Society of Mechanical Engineers (ASME)
titleOn the Numerical Influences of Inertia Representation for Rigid Body Dynamics in Terms of Unit Quaternion
typeJournal Paper
journal volume83
journal issue6
journal titleJournal of Applied Mechanics
identifier doi10.1115/1.4033031
journal fristpage61006
journal lastpage61006
identifier eissn1528-9036
treeJournal of Applied Mechanics:;2016:;volume( 083 ):;issue: 006
contenttypeFulltext


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