| contributor author | Homin Choi | |
| contributor author | Bingen Yang | |
| date accessioned | 2017-05-09T00:48:12Z | |
| date available | 2017-05-09T00:48:12Z | |
| date copyright | March, 2012 | |
| date issued | 2012 | |
| identifier issn | 0021-8936 | |
| identifier other | JAMCAV-26815#024502_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/148137 | |
| description abstract | It is well known that use of quaternions in dynamic modeling of rigid bodies can avoid the singularity due to Euler rotations. This paper shows that the dynamic response of a rigid body modeled by quaternions may become unbounded when a torque is applied to the body. A theorem is derived, relating the singularity to the axes of the rotation and applied torque, and to the degrees of freedom of the body in rotation. To avoid such singularity, a method of equivalent couples is proposed. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | On Singularity of Rigid-Body Dynamics Using Quaternion-Based Models | |
| type | Journal Paper | |
| journal volume | 79 | |
| journal issue | 2 | |
| journal title | Journal of Applied Mechanics | |
| identifier doi | 10.1115/1.4005575 | |
| journal fristpage | 24502 | |
| identifier eissn | 1528-9036 | |
| keywords | Torque | |
| keywords | Rotation | |
| keywords | Structural frames | |
| keywords | Degrees of freedom | |
| keywords | Damping | |
| keywords | Theorems (Mathematics) | |
| keywords | Dynamics (Mechanics) | |
| keywords | Displacement | |
| keywords | Dynamic response | |
| keywords | Force AND Springs | |
| tree | Journal of Applied Mechanics:;2012:;volume( 079 ):;issue: 002 | |
| contenttype | Fulltext | |