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Lesson 1 Generalized Coordinates of Multibody Systems
Lesson 1 Generalized Coordinates of Multibody Systems
Multibody Systems
Lesson 1
Generalized Coordinates for
Position and Orientation of
Multibody Systems
Generalized Coordinates
r
θ Polar generalized coordinates
r
x
y Cartesian generalized coordinates
θ
3
Cartesian Generalized Coordinates of a Rigid Body
y1
x1 x1
y θ1
1
θ1 Body
y
Body Reference Frame
4
Transformation Matrix of a Rigid Body
s =[s x ,s y ]T
y
s'=[ , ]T
Sy
θ
y' s x = ξ cosθ − ηsin θ
x'
S
θ s y = ξ sin θ + ηcosθ
θ
s x cosθ − sin θ ξ
θ s = η
Sx
x y sin θ cos θ
A matrix
s = As'
5
Properties of Transformation Matrix
cos 2
θ + sin 2
θ − cosθsin θ + sin θ cosθ
A A=
T
=I
− cosθsin θ + sin θ cosθ cos θ + sin θ
2 2
T
A =A
T −1
s'= A s