Modelling of three-dimensional mechanical systems using point coordinates with a recursive approach

  • Attia H
  • 2


    Mendeley users who have this article in their library.
  • 1


    Citations of this article.


In this paper, the dynamic simulation of constrained mechanical systems that are interconnected of rigid bodies is studied using projection recursive algorithm. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. Closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. For the resulting open-chain system, the equations of motion are generated recursively along the serial chains. An example is chosen to demonstrate the generality and simplicity of the developed formulation. © 2006 Elsevier Inc. All rights reserved.

Author-supplied keywords

  • Dynamic simulation
  • Equations of motion
  • Mechanical systems
  • Mechanisms
  • Recursive projection

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Hazem Ali Attia

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free