In this paper we have presented a new form of Kane’s equations. This new form is expressed in the matrix form with the components of partial derivatives of linear and angular velocities relative to the generalized speeds and generalized coordinates. The number of obtained equations is equal to the number of degrees of freedom represented in a closed form. Also the equations can be rearranged to appear only one of the time derivatives of generalized speeds in each equation. This form is appropriate especially when one intends to derive equations recursively. Hence in addition to the simplicity, the amount of calculations is noticeably reduced and also can be used in a control unit.
- Design Engineering Division and Computers and Information in Engineering Division
An Applied Form of Kane’s Equations of Motions
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Pishkenari, HN, Gaskarimahalle, AL, Oskouei, SBG, & Meghdari, A. "An Applied Form of Kane’s Equations of Motions." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C. Long Beach, California, USA. September 24–28, 2005. pp. 2103-2110. ASME. https://doi.org/10.1115/DETC2005-84963
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