7. Multibody Kinematics

  1. Reza N. Jazar

Published Online: 24 FEB 2011

DOI: 10.1002/9780470950029.ch7

Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications

Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications

How to Cite

Jazar, R. N. (2011) Multibody Kinematics, in Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications, John Wiley & Sons, Inc., Hoboken, NJ, USA. doi: 10.1002/9780470950029.ch7

Author Information

  1. School of Aerospace, Mechanical, and Manufacturing Engineering, RMIT University Melbourne, Australia

Publication History

  1. Published Online: 24 FEB 2011
  2. Published Print: 9 MAR 2011

ISBN Information

Print ISBN: 9780470398357

Online ISBN: 9780470950029

SEARCH

Keywords:

  • multibody kinematics - modeling multibody systems as connected rigid bodies;
  • multibody connection - a mechanical system made by connected rigid bodies;
  • Denavit–Hartenberg rule, coordinate frame transformation calculus - determining relative orientation of bodies;
  • forward or direct kinematics - transformation of kinematic information, joint variables to Cartesian coordinates;
  • order-free rotation, theorem - simplifying applied rotation transformation of multibodies

Summary

This chapter contains sections titled:

  • Multibody Connection

  • Denavit–Hartenberg Rule

  • Forward Kinematics

  • Assembling Kinematics

  • ☆ Order-Free Rotation

  • ☆ Order-Free Transformation

  • ☆ Forward Kinematics by Screw

  • ☆ Caster Theory in Vehicles

  • Inverse Kinematics

  • Key Symbols

  • Exercises