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Computational Screw Dynamics of Multi-body-Systems

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Proceedings of the 2nd International Conference on Mechanical System Dynamics (ICMSD 2023)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

This research study focuses on a general application of dynamic analysis in screw coordinates formed by Newton–Euler equations. The utilization of screw coordinates enables the computation of absolute displacement and acceleration parameters by numerical integration and numerical differential interpolation from velocity parameters, individually. The dynamic equations can be established directly using the obtained absolute accelerations and displacements from the kinematic analysis. To demonstrate and validate the effectiveness of this dynamic analysis approach, the Gough-Stewart platform as a representative rigid multibody system is analyzed as a representative example. It should be emphasized that although this paper specifically examines the Gough-Stewart parallel mechanism, the proposed modeling method for kinematic and dynamic analysis can also be effectively used to establishing analysis algorithms for various mechanisms. Through a comparative analysis of computing time, the superiority of the method over conventional dynamic analysis method using displacement as a global variable are demonstrated.

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Authors and Affiliations

  1. State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Bei**g, 100084, People’s Republic of China

    **g-Shan Zhao, **ao-Cheng Sun & Song-Tao Wei

Authors
  1. **g-Shan Zhao
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  2. **ao-Cheng Sun
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  3. Song-Tao Wei
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Corresponding author

Correspondence to **g-Shan Zhao .

Editor information

Editors and Affiliations

  1. Institute of Launch Dynamics, Nan**g University of Science and Technology, Nan**g, China

    **aoting Rui

  2. College of Engineering, Peking University, Bei**g, China

    Caishan Liu

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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zhao, JS., Sun, XC., Wei, ST. (2024). Computational Screw Dynamics of Multi-body-Systems. In: Rui, X., Liu, C. (eds) Proceedings of the 2nd International Conference on Mechanical System Dynamics. ICMSD 2023. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-99-8048-2_36

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  • DOI: https://doi.org/10.1007/978-981-99-8048-2_36

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-8047-5

  • Online ISBN: 978-981-99-8048-2

  • eBook Packages: EngineeringEngineering (R0)

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