NDLI: Twenty-five years of natural coordinates

Content Provider	Springer Nature Link
Author	Jalón, Javier García
Copyright Year	2007
Abstract	In the early eighties, the author and co-workers created and further developed the natural coordinates to describe the motion of 2-D and 3-D multibody systems. Natural coordinates do not need angles or angular parameters to define orientation, leading to constant inertia matrices and to the simplest form of the constraint equations. Natural coordinates are composed by the Cartesian coordinates of some points and the Cartesian components of some unit vectors distributed on the different bodies of the system. The points and vectors can be located in the joints, being shared by contiguous bodies, decreasing or even eliminating the need to set joint constraints and reducing the total number of variables. However, other authors prefer not to share variables in order to get even simpler equations and to keep a bigger decoupling of equations, which is preferable in some cases. In this paper the history of natural coordinates is reviewed, as well as the main contributions coming from other research groups. In the second part of the paper some application areas in which natural coordinates can be particularly advantageous are examined.
Starting Page	15
Ending Page	33
Page Count	19
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	18
Issue Number	1
e-ISSN	1573272X
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2007-06-01
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Natural coordinates Multibody systems 3-D mechanisms Rigid body motion Automotive and Aerospace Engineering, Traffic Mechanical Engineering Electronic and Computer Engineering Optimization Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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