Vector/dyad notation in computer symbolic modeling of hybrid parameter mechanical systems
- Texas Tech Univ., Lubbock, TX (United States). Dept. of Mechanical Engineering
In this paper, computer symbolic algebra based algorithms written to take advantage of engineering vector notation, as applied to hybrid parameter mechanical systems, are demonstrated. The symbolic manipulation tools are utilized to implement a hybrid parameter system modeling algorithm previously developed by the author. The modeling algorithm produces minimal holonomic and nonholonomic equations of motion for hybrid systems of any continuum dimension and kinematic topology. Boundary conditions are rigorously supplied by the modeling method. The system model presented as an example is a hybrid parameter planar two link model of a robot manipulator. A complete analysis from model to simulation and animation in a Mathematica notebook is presented. The modeling tools presented herein are applicable for researchers, practicing engineers, and students in advanced dynamic system modeling and control courses.
- OSTI ID:
- 382813
- Report Number(s):
- CONF-960154-; ISBN 0-9648731-8-4; TRN: IM9645%%364
- Resource Relation:
- Conference: Energy Week `96: American Society of Mechanical Engineers and American Petroleum Institute energy week conference and exhibition, Houston, TX (United States), 21 Jan - 2 Feb 1996; Other Information: PBD: 1996; Related Information: Is Part Of Energy week `96: Conference papers. Book 4: Engineering technology; PB: 453 p.
- Country of Publication:
- United States
- Language:
- English
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