Kinematics of Multi-body System
kinematic analysis of a general case planar multi-body system using absolute coordinates
Authors: Ahmed Yesuf Nurye
Advisor: Prof. Janusz Frączek
Example mechanism.
Abstract
To address scalability challenges in joint-coordinate methods for complex mechanisms, we developed an alternative approach based on absolute coordinates. Absolute coordinates localize the constraint equations to individual joints, resulting in inherently sparse constraint and Jacobian matrices that are computationally efficient to solve. The solver employs the Newton-Raphson method to solve the nonlinear constraint equations for position and uses the Jacobian matrix to compute the velocities and accelerations of any point on the bodies of the mechanism.