The purpose of this paper is to provide a method with convenient modelling as well as precise computation to the research of complex multi-body system, such as robot arms and solar power satellite. Classical modelling method does not always fit these two requirements.
In this paper, tensor coordinates (TC) and homogeneous tensor coordinates (HTC) method with gradient components are developed, which also have a convenient interface with classical theory.
The HTC proved its precision and effectiveness by two examples. In HTC model, equations have a more convenient form as matrix and the results coincide well with classical one.
There is no plenty detailed operations supported in mathematics yet, which may be developed in further research.
With TC/HTC method, the research work can be separated more thoroughly: a simpler modelling work is left to scientists, when more computing work is handed to the computers. It may ease scientists’ brains in multibody modelling.
The HTC method has the advantages of absolute nodal coordinate formulations, tensor and homogeneous coordinate (HC) and it may be used in multibody mechanics, or other related engineerings.
This work was supported partially by the National Natural Science Foundation of China (Project Number: 11272101), the 12th Five-Year Plan Projects for civil aerospace of China, the innovation fund of China Aerospace Science and Technology Corporation.
Shen, F., Rong, S., Cui, N. and Kong, X. (2017), "A tensor-based modelling and simulation method for multibody system", Engineering Computations, Vol. 34 No. 4, pp. 1107-1125. https://doi.org/10.1108/EC-11-2015-0375
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