Degree Type

Dissertation

Date of Award

1988

Degree Name

Doctor of Philosophy

Department

Mechanical Engineering

First Advisor

Martin J. Vanderploeg

Abstract

This thesis develops a symbolic formulation for the equations of motion of multibody dynamic systems. This technique is unique in that all system definitions are in terms of intuitive Cartesian coordinates, but the final form of the equations are in terms of a minimal set of relative coordinates. Symbolic formulations compute explicit equations of motion which have several advantages over numerical formulation. Numerical integration of symbolic equations is shown to be more efficient. In addition, the equations can be symbolically differentiated to yield system linearizations or sensitivities. This thesis presents several examples highlighting the advantages of this formulation.

DOI

https://doi.org/10.31274/rtd-180813-8871

Publisher

Digital Repository @ Iowa State University, http://lib.dr.iastate.edu/

Copyright Owner

Alan G. Lynch

Language

en

Proquest ID

AAI8909169

File Format

application/pdf

File Size

107 pages

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