A PROJECTIVE CRITERION TO THE COORDINATE PARTITIONING METHOD FOR MULTIBODY DYNAMICS

The paper discusses some developments in the coordinate partitioning m ethod for the dynamic analysis of constrained/closed-loop multibody sy stems. First, the method is reformulated to a more compact form. Then, a simple and reliable projective criterion for choosing the best coor dinates from the redundant ones is proposed, and some advantages are p ointed out that may arise in the method by applying inverse kinematics algorithms. Finally, the problem of determination of physical reactio ns of constraints and closing conditions is discussed. A four-bar link age mechanism serves for an illustration of some aspects of the paper.