DYNAMIC ANALYSIS OF CONSTRAINED MULTIBODY SYSTEMS USING INVERSE KINEMATICS

This paper draws attention to the advantages that may arise in the dynamic analysis of constrained multibody systems by applying special algorithms of inverse kinematics developed in the field of robotics. The algorithms result in explicit (recursive) relations for the arbitrary chosen dependent coordinates as functions of the remaining (independent) ones. Then analogous velocity and acceleration relations are available. Using these explicit closing condition forms, minimal-dimension governing equations of a constrained system can be formulated conveniently. The avoidance of singularities in the analysis is discussed. An illustrative example is included.