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A fresh insight into Kane's equations of motion

Published online by Cambridge University Press:  17 August 2015

H. Nejat Pishkenari ,
S. A. Yousefsani ,
A. L. Gaskarimahalle  and
S. B. G. Oskouei
H. Nejat Pishkenari*
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
S. A. Yousefsani
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
A. L. Gaskarimahalle
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
S. B. G. Oskouei
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
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Summary

With rapid development of methods for dynamic systems modeling, those with less computation effort are becoming increasingly attractive for different applications. This paper introduces a new form of Kane's equations expressed in the matrix notation. The proposed form can efficiently lead to equations of motion of multi-body dynamic systems particularly those exposed to large number of nonholonomic constraints. This approach can be used in a recursive manner resulting in governing equations with considerably less computational operations. In addition to classic equations of motion, an efficient matrix form of impulse Kane formulations is derived for systems exposed to impulsive forces.

Keywords

DynamicsKane methodGeneralized speedMulti-body systemNonholonomic constraintImpulse Kane formulation
Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017 , pp. 498 - 510
Copyright
Copyright © Cambridge University Press 2015 

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