NDLI: A Recursive Formulation for Real-Time Dynamic Simulation of Mechanical Systems

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Dae-Sung Bae Ruoh-Shih Hwang Haug, Edward J.
Copyright Year	1991
Abstract	A new recursive algorithm for real-time dynamic simulation of mechanical systems with closed kinematic loops is presented. State vector kinematic relations that represent translational and rotational motion are defined to simplify the formulation and to relieve computational burden. Recursive equations of motion are first derived for a single loop multi-body system. Faster than real-time performance is demonstrated for a closed loop manipulator, using an Alliant FX/8 multiprocessor. The algorithm is extended to multi-loop, multi-body systems for parallel processing real-time simulation in companion papers [1, 2] where performance of the algorithm on a shared memory multi-processor is compared with that achieved with other dynamic simulation algorithms.
Starting Page	158
Ending Page	166
Page Count	9
File Format	PDF
ISSN	10500472
e-ISSN	15289001
Journal	Journal of Mechanical Design
Volume Number	113
Issue Number	2
DOI	10.1115/1.2912764
Language	English
Publisher	The American Society of Mechanical Engineers
Publisher Date	1991-06-01
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Algorithms Equations of motion Manipulators Parallel processing Rotation Simulation
Content Type	Text
Resource Type	Article
Subject	Computer Graphics and Computer-Aided Design Mechanical Engineering Mechanics of Materials Computer Science Applications

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A Recursive Formulation for Real-Time Dynamic Simulation of Mechanical Systems