Multibody system dynamics

Multibody system dynamics

Presentation

Rigid body kinematics

  1. Rotation matrices
  2. Euler angles
  3. Quaternions
  4. Kinematic equations

Rigid body dynamics

  1. Mass, Inertia, Impulse, …
  2. Euler case
  3. Lagrange case

Multibody system dynamics

  1. Constraint equations
  2. Vereschagin method
  3. Structure
  4. Wittenburg method (spherical joints)
  5. Wittenburg method (cylindrical joint)
  6. Kane method

Examples

  1. Cubesat deployment simulation using Python programming language with sympy, numpy, scipy libraries.
  2. Lagrange equations for 2-DOF system using Python programming language with sympy, numpy, scipy libraries.