MODELING HYBRID PARAMETER MULTIPLE BODY SYSTEMS - A DIFFERENT APPROACH

In this paper, the Hybrid Parameter Multiple Body (HPMB) system modeli ng problem is addressed. Presented, is a systematic methodology for de riving equations of motion for these highly complex systems. The metho dology is founded in variational principles,but uses vector algebra to eliminate tedium. The variational nature of the methodology allows ri gorous equation formulation providing not only the complete non-linear , hybrid, differential equations, but also the boundary conditions. On e novelty of the method lies in the fact that its variational nature i s transparent to the user. This enables it to be effectively used by r esearchers having a working knowledge of Lagrange's method. The method ology is formulated in the system's constraint-free sub-space of the c onfiguration space, thus all constraints (holonomic and nonholonomic) are automatically satisfied. Since Lagrange multipliers are not needed , the method produces a minimal realization. The spatial dimensions of the continuum bodies are Rot restricted and the inter-body connection s are completely general.