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Published in:
1994 | OriginalPaper | Chapter
Kinematic Analysis
Authors : Javier García de Jalón, Eduardo Bayo
Published in: Kinematic and Dynamic Simulation of Multibody Systems
Publisher: Springer New York
Included in: Professional Book Archive
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The kinematic constraint equations corresponding to the natural coordinates were explained in detail in Chapter 2, both for planar and three-dimensional multibody systems. They were then compared to other types of coordinates. Attention was also given to the main sources of constraint equations with natural coordinates: rigid body constraints, joint constraints, and the optional definition of relative or joint coordinates.