NEW FORMULATIONS ON KINEMATICS OF MECHANICAL SYSTEMS

Iuliu NEGREAN, Kalman KACSO, Claudiu SCHONSTEIN, Adina DUCA

Abstract


The main objective of this work is the developing of new formulations about the kinematics of the mechanical multibody systems. In order to achieve of this goal will be applied a kinematic study, in matrix form. The approaches in the paper, about new formulations in kinematics of the mechanical multibody systems, are linked to the expressions of the rotation parameters as absolute angular velocity and absolute angular acceleration. Hence, by using the exponential form to express the rotation matrices, it will been developed the generalized expressions for the angular velocity and respectively for the angular acceleration. In view of the meaning of the symbols with respect to the rotation axes, by substituting the expressions of their angular velocity and angular acceleration, there will be obtained the twelve sets of orientation angles, and their corresponding matrices of rotation, respectively the angular velocity and angular acceleration, which are expressing the absolute rotation motion, from kinematic point of view.

 Key words: matrix exponentials, kinematics, multibody systems, angular velocity , angular acceleration

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References


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