Aggregative Mechanics of Rigid Body Systems Eng

Aggregative mechanics of rigid body
systems
V.A. Konoplev
Sankt-Petersburg
1996
Contents
Preface
ix
1 Kinematics of multibody systems

1.1 Linear space of equipollent systems of line vectors . . . . .
1.1.1 Equation of the kinematics on the group Lt (R, 6) .
1.2 Graph of a tree-like multibody system . . . . . . . . . . . .
1.2.1 Examples of multibody systems . . . . . . . . . . . .
1.3 Kinematic equations of (, k 1; lk)-th kinematic pair . . .
1.3.1 Examples of equations of kinematic pairs . . . . . .
1.4 Kinematics of Hooke-elastic pair . . . . . . . . . . . . . . .
1.5 Kinematic equations of lk-th element . . . . . . . . . . . . .
1.5.1 Examples of kinematic equations of kinematic pairs
1.6 Kinematic equations of a tree-like multibody system . . . .
1.6.1 Examples of constructing configuration matrices . .
1.6.2 Examples of kinematic equations of kinematic pairs
1.6.3 Examples for constructing parastrophic matrices . .
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2 Equations of motion for a multibody system

2.1 Equations of motion of an element of a multibody system . .
2.1.1 Equations of motion of an element of a system carrying dynamically non-balanced and asymmetric rotating
bodies . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 Equations of motion of an element of a multibody system in inertial medium . . . . . . . . . . . . . . . . .
2.2 Equations of motion of a tree-like multibody system . . . . .
2.2.1 Equations of motion of double pendulum . . . . . . .
2.3 Equations of Hooke-elastic body system motion . . . . . . . .
2.4 Eective forms of equations of multibody system motion . . .
2.5 Determination of preplanned control with the help of forward
and backward sweep methods . . . . . . . . . . . . . . . . . .
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vi
Chapter 1
2.6
Algorithm for constructing equations of motion based on forward and backward sweep methods . . . . . . . . . . . . . . . . 69
3 Analytic transvective forms of dynamic equations in the Cauchy

form
75
3.1 Matrix realization of Gauss method . . . . . . . . . . . . . . . . 76
3.2 Analytic transvective forms of inertia matrix and its inverse . . 76
3.3 Analytical transvective Cauchy form of motion equations for a
tree-like system . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.4 Computer complexity of the algorithms . . . . . . . . . . . . . 80
4 Dierential equations of constraints of multibody systems
with the external medium bodies
4.1 State of the art . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Kinematics of pairs the system bodies the external medium
ones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Dierential equations of time-invariant constraints . . . . . . .
4.4 Dierential equations of time-varying constraints . . . . . . . .
4.5 Dierential equations of constraints of multibody systems with
loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
85
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91
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99
References
101
Notation
105
Preface
The main theme of this book is Computer-Aided Modeling concerned with

the Mechanics of Multibody Systems branch of General Mechanics. It brings
together eorts of specialists in the field of mechanics and information science
to solve the basic problem (see, e.g., Gerdt et al. 1980, Grosheva et al. 1983,
Klimov et al. 1989):
to develop theoretical foundations and applied issues of a new field of
the human knowledge based on bringing together (mutual diusion) mechanics, in particular, the multibody system mechanics, and the branch of
information science which is commonly named Computer Algebra.
The above-mentioned problem has been studied in two directions (see Wittenburg 1977, Medvedev et al. 1978, Gerdt et al. 1980, Grosheva et al. 1983,
Konoplev 1986a, Arais et al. 1987, Velichenko 1988, Klimov et al. 1989):
the implementation of computer algebra methods in the classical mechanics with the aim of developing theoretical and software tools which are
intended to replace the traditionally human work in deriving mechanical
systems motion equations in Newton-Euler, Lagrange, Appel and Hamilton forms;
the development of new mathematical formalisms in mechanics to produce computer-aided algorithms suitable for the use of computer algebra
methods and symbolic computation software.
In recent time the trend has been toward bridging the gap between these
two approaches. The book contains the results of the development of a new
computer-aided mathematical formalism of the multibody system mechanics
which may be easily implemented with the use of computer algebra tools for
symbolic computations and of standard software for numerical ones.
The eciency of the represented formalism is determined by the following
facts:
The algorithms are universal in the sense that analytical and numerical
forms of multibody system mechanical models are constructed indepenix
Preface
dently of one another, i.e., these algorithms may be used for constructing
analytical and, independently, numerical forms of models bypassing the
stage of constructing scalar equations.
The algorithms provide the ecient solution of direct problems in the
mechanics of multibody systems (with the help of the sweep method).
There are many ecient recurrent procedures.
There is no need to derive previously analytical forms of any particular
functionals (such as Lagrangian, Hamiltonian), the Gauss function, the
Appel function and so on.
There is no need to exploit symbolic dierentiating tools, since the algorithms contain no such dierential operators as Christoel symbols,
three-indexed symbols of Boltzmann, the Jacoby matrix and so on. All
operations are performed with the use of readily available algebraic tools.
Where bodies of a system are linked with external bodies, there is no need
to derive equations of holonomic and non-holonomic (time-invariant and
time-varying) constraints and computer calculation of the corresponding
Jacoby matrix for these purposes. To this end, only the matrices which
are derived during the construction of motion equations are used.
The method of indexing that is oriented to multibody systems with treelike structure is developed.
The methodology provides the possibility of taking into account the presence of rotating bodies linked to bodies of a system in the case where the
reverse linkage to carrier is absent, as well as the influence of an inertial
medium (e.g., water when the flow is potential) by without significant
loss of eciency of algorithms.
The derivation of Hooke-elastic multibody system motion equations is
provided.
Methods of deriving an inertia matrix and its inverse in the form of multiplication of simple matrices (transvective and diagonal) are proposed.
A method of direct derivation of analytical forms of multibody system
motion equations in the Cauchy form is developed without computing an
inertia matrix and inverting it.
Practically full parallel processing is provided.
Work expenditure is minimized.
The book is written on base of the authors study of the problems known
as classical in mechanics and control theory. It is organized as follows. In
Chapter 1 we focus on some general issues that are very important in forming
mathematical models in the multibody system mechanics. Many methodologies for description of rigid multibody systems have been proposed in the
past. One of them is based on application of dual vectors and matrices in rigid
body dynamics: in the last thirty years a growing number of investigations
concerning this topic have appeared in the literature (see, e.g., Angeles et al.
1997). Dual vectors (screws) supply us with the description of a multibody
Preface
xi
system that does not suer from singularities as in the case, e.g., of Euler
angles. We present the results of our elaboration of a new mathematical formalism of the multibody system kinematics which is based on the concept of
a line vector (Brand 1947, Berezkin 1974). We avoid using the common terminology of screw theory (Dimentberg 1965, Murray et al. 1993, Selig 1996),
as the essence of our approach appears as crucially dierent and more simple. In particular, equipollent systems of line vectors generate 6-dimensional
linear spaces of binary vectors with respect to various reduction centers. After introducing bases, we arrive at the coordinate space R6 where a group
of motions such as translations and rotations defines isomorphism between
coordinate representations of these spaces (Konoplev 1987a). This group acts
multiplicatively, as distinct from the analogous group of translations which
acts additively on R3 . The multiplicative group of motions permits us to give
ecient tools for defining binary vectors in various frames (for an arbitrary
number of intermediate motions). This fact is of importance as the main
content of the multibody system kinematics and dynamics is in constructing
twists and wrenches (kinematical, kinetic and dynamic binary vectors) as in
an inertial frame of reference so in frames attached to system bodies.
After introducing the operation of dierentiating on the group of motions, we
obtain an algebraic apparatus for calculating velocities and quasi-velocities of
bodies. This permits us to keep the mathematical prerequisites to a minimum
and to construct algebraic, physically pictorial models of multibody systems
suitable for computer implementation in symbolic and numerical forms.
A multibody system consists of three levels: kinematical pairs, kinematical
chains of kinematical pairs, and the whole system of kinematic chains (Konoplev 1986b,c). Preliminary studies have showed that the goal of mathematical
formalization of the multibody system mechanics and, in particular, of the
kinematics, together with the ecient apparatus of corresponding computer
calculations, may be achieved with the help of system analysis methodology
(modular methodology) (Messarovich et al. 1978, Konoplev 1986a).
The methodology of system analysis is eciently used where equations (or
modules in the corresponding terminology), describing the behavior of a system on each levels, may be derived from the analogous equations, representing
its behavior on the previous level. In such cases, the equations, describing the
behavior of the whole system, appear to be comprised of equations (modules)
of previous levels. If there exists an algorithm of module construction for the
lowest level system, which possesses an ecient computer implementation,
then it turns out that the computer implementation of equation construction
for the whole system is more ecient then any other algorithm.
Kinematical equations of a kinematical pair, a kinematical chain and the
whole system on the first, second and third levels, respectively, are relations
between quasi-velocities and generalized velocities (redundant in the general
case) and play role of the above-mentioned modules. The computer algorithm
xii
Preface
of deriving the third level module from the first level modules, i.e., kinematical
equations of the whole system, defines the graph of the system, which is
represented by a two-line array of zeros and units.
The apparatus of the theory developed in the chapter consists of kinematical
equations (kinematical modules) of all levels. The notion of a twist and the
group of motions of binary vectors form the basis of this theory. We give the
corresponding algorithms in compact, geometrically and physically pictorial
matrix form readily implemental on a computer for symbolic and numerical
calculation. Of course, these equations are equivalent to known vector equations, but, where the number of intermediate motions is greater than three or
four, the vector equations, being written in scalar form, are too cumbersome
(Konoplev 1984, 1987a).
At the end of the chapter, we introduce the parastrophic matrix of a multibody
system. This matrix transforms generalized velocities into quasi-velocities of
bodies, providing kinematical equations of the system. The parastrophic matrix is a basic mathematical element of the theory. It contains the information
on the system kinematical structure, axes, mechanical and functional configurations of the system. The parastrophic matrix undoes wrenches of internal
reactions in any multibody system subjected to holonomic constraints and
extracts control and friction forces, acting on mobility axes of the system.
In Chapter 2, we present the development of the dynamics of multibody systems. As in the case of the kinematics, the system analysis is taken as the
base of methodology: at first, equations of motion of single rigid bodies in
linear space of quasi-velocities are derived (the first-level dynamic modules)
in the special matrix form, then equations of motion of kinematical chains
(the second-level dynamic modules) and finally equations of motion of the
whole system (the third-level dynamic modules) are obtained.
We then derive equations of motion of a multibody system relative to generalized coordinates as a result of eliminating quasi-velocities from the dynamic
module of the system with the use of kinematical equations (Konoplev 1989a,
1990, Konoplev et al. 1991).
We obtain equations of motion for a single rigid body with dynamically unbalanced and asymmetric rotating flywheels placed on it under conditions in
which carrier motion has no influence on their rotation. The influence of an
inertial external medium on system motion is taken into account (e.g., water,
provided that the flow is potential) (Konoplev 1987b and 1989b,c).
Deriving dynamic equation of Hooke-elastic bodies motion and constructing
(with its use) equations of fast and slow motions (taking into account crosseects) are also considered in the first part of Chapter 2 (Konoplev et al.
1991).
The second part of Chapter 2 is devoted to the problem of work expenditure for the algorithms of constructing multibody system equations. The
quadratic, in the degree of freedom, algorithm for inertia matrix calculation
Preface
xiii
and two linear algorithms for the quadratic, in the generalized velocities terms,
calculation are obtained. We propose ecient algorithms, yielding the solution for the so called inverse problem of the multibody system dynamics,
which consists in the calculation of reactions between bodies of the system
and control inputs in joints, given values of generalized coordinates and velocities. The labor content for each of the algorithms presented is estimated for
the symbolic and numerical forms. To illustrate algorithms implementation,
motion equations for a double pendulum with a sliding hanger are derived in
the symbolic form.
The theoretical results presented in the chapter are illustrated by numerous
fully considered examples, such as a gyroscope on an inclined base, a flywheel
installed on a rigid body, a double pendulum with a sliding hanger, a manipulator, a walking machine, and a test bench (Okhotsimsky et al. 1984,
Konoplev 1989, Konoplev et al. 1989, 1992a, Belkov 1992). We have studied
the above-mentioned mechanisms using computer simulation at the request
of industrial firms.
Thus, because the equations of multibody system motion, introduced in Chapter 2, contain only constant inertia matrices and the parastrophic matrix, the
definition of the latter immediately leads to construction of kinematical equations and motion equations (Konoplev 1989a, 1990, Konoplev et al. 1991).
In Chapter 3, we continue to study the problem of reducing the labor content
for algorithms of motion equation derivation. It is known (Gantmacher 1964,
Suprunenko 1972, Skornyakov 1980 and 1983) that the general linear group
has the system of generators (transvective and diagonal matrices). Here we
give two algorithms for deriving an inertia matrix and its inverse in the form
of multiplications of the above-mentioned simplest matrices. This permits
us to bypass constructing an inertia matrix and to define the symbolic and
numerical forms of its inverse immediately. As a result, we derive the motion
equations of a multibody system at once in the Cauchy form (Konoplev 1994,
1995).
Estimating the labor content for algorithms for symbolic and numerical forms
of matrix representation we see that one of them is the most ecient algorithm
when the system degree of freedom is greater than 27-30.
In Chapter 4, a new ecient method for constructing dierential equations of
holonomic and non-holonomic, time-invariant and time-varying constraints is
developed. It is customary to derive the above-mentioned equations in two
stages. First, equations of constraints are written and then the Jacoby matrix
of holonomic constraints is derived (Nikulin et al. 1983). With the use of
this matrix and that of linear non-holonomic constraints, dierential equations of constraints are constructed. These equations are used for eliminating
Lagrange multipliers from redundant equations of motion. If there are many
constraints and the system degree of freedom is great, the construction of
these matrices is tedious. We propose a new, in essence, approach to solv-
xiv
Preface
ing this problem. The above-mentioned sequence of operations is replaced

with the inverse one. It turns out that the modular technology of constructing multibody system motion equations permits us to derive reaction vectors
of external bodies incidentally during construction of motion equations, in
particular, when determining the parastrophic matrix of the system. It only
remains to write dierential equations of constraints with the use of this matrix. Thus the problem of cumbersome analytical construction of constraint
equations, as well as the Jacoby matrix computation of each step of numerical
integration of motion equations, is completely removed (Konoplev 1989b and
1992).
With the help of this methodology, an algorithm for constructing motion
equations for a multibody system with internal chain-loops is elaborated.
The book does not review the literature. There are two reasons for this. In the
first place, it is impossible to do this in full measure, since the list of relevant
publications is enormous and the number of books and papers on multibody
system mechanics is steadily growing. Secondly, the results connected with
mechanical modeling (the aggregative mechanics) given here does not rely
on any works known to the authors. Nevertheless, it is necessary to list the
authors (additional to the above-mentioned Wittenburg 1977, Medvedev et
al. 1978, Gerdt et al. 1980, Grosheva et al. 1983, Konoplev 1986a, Arais
et al. 1987, Velichenko 1988, Klimov et al. 1989), whose works are unconventional: V.V. Akselrod, A.V. Banshikov, L.A. Burlakova, A.B. Byachkov,
L. Chang, M.A. Chubarov, Yu.N. Chelnokov, A.I. Filaretov, F. Freudenstein,
H.P. Frisch, A.S. Gorobtsov, T.J. Haug, J.M. Hollrbach, R.L. Huston, R.S.
Hwang, V.D. Irtegov, T.R. Kane, A.I. Korzun, G.P. Kulvetis, V.A. Kutergin,
E.E. Lavendel, C.S.G. Lee, V.V. Malanin, D. Orin, B. Paul, W. Schiehlen,
L.I. Shtejnwolf, A.M. Shulgin, M.W. Walker, O. Wallrapp, P.Y. Willems, J.T.
Wang, L. Wang, L. Woo, A.T. Zaremba, among others (we apologize to those
whom we omit to mention).
The main part of the book is based on lectures that the author has been giving
on elective special courses in two departments of the Baltic State Technical
University (St Petersburg).
The present volume may successfully be used as an introduction to the mechanics of rigid bodies, it is distinct, however, in that the flavor is decidedly
one of applied mathematics. It also covers details of various extensions of
the theory and recent research results in mechanics. Readers familiarity with
real vectors and matrices, with systems of ordinary dierential and dierence
equations and with basics of real, complex and functional analysis is presupposed.
The book will appeal to a wide circle of specialists, including professional
mathematicians interested in modern mathematical formalization of mechanics, as well as mechanical engineers, graduates and post-graduate students.
They will be able to find numerous ecient algorithms for solving actual
Preface
xv
problems in the field of multibody systems, detailed explanations and examples.

The authors thank Academicians of the Russian Academy of Sciences D.M.
Klimov, D.E. Okhotsimsky and Corresponding Member V.F. Juravlev for
repeated critical discussions on the aggregative mechanics issues, and Prof.
Yu.F. Golubev and Prof. A.P. Makreev for the support given at decisive
moments for the future of computer-aided methods described in the book.
xvi
Chapter 1
Kinematics of multibody systems
1.1. Linear space of equipollent systems of line vectors

It is well known that a system of forces acting on a rigid body generates the
sum and the total moment considered with respect of a certain point called
the center of reduction. Treating the sum and the moment as an aggregate of
two free vectors we may say about a so called binary vector. This notion is
very near to that of a dual vector or screw (Dimentberg 1965, Murray et al.
1993, Selig 1996, Angeles 1997) being in the base of analytical theory of screws
(screw theory). However the dierence existing between these notions leads to
that our theory diers from screw theory in the same degree as real analysis
on R2 from complex analysis. In particular, introducing specific notions of the
conventional calculus of screws (such as a principal axis, a spiral products, a
linear complex, a spiral anor, analytical functions of dual vectors and so on)
is not be necessary, as we need only the main object of the multibody system
kinematics: a multiplicative group of motions (translations and rotations) in
the linear space R6 defining isomorphism between coordinate representations
of binary vector spaces. In a rather natural way, this yields us very convenient
computer-aided tools for using equipollent systems of line vectors.
Vectorial objects
Physical magnitudes characterized with the help of one real number are called
scalars. We may easy give examples of scalars: time, angle, length, volume,
electrical resistance, mass, work, etc. Some of them can be supplied with
sign but it is not essential. On the other hand there are many magnitudes
such that their description cannot be introduced by means of one number.
Magnitudes such as velocity, acceleration and force are called vectorial. In
the simplest case a vector is introduced as a line segment in which the initial
point is distinguished from the terminal one, the former being also called a
point of application. Points are classified as zero vectors.
1
Chapter 1
There are various categories of vectors. A vector of the first category a

bounded vector is given above with fixing its initial and terminal points.
This way of (ane) definition does not use the notion of length. With the
help of some metric a bounded vector can be characterized by the following
elements:
an initial point;
a direction;
a length (norm).
The classical example of bounded vectors can be vectors of some physical field,
e.g., the Earths gravitational one.
A vector of the second category a line vector is defined by the following elements:
a straight line along which this vector is directed;
a sense;
a length (norm).
In other words, a line vector is defined as a class of equivalence: the set of
bounded vectors having the same line of action, sense and length. The usual
mechanical example of a line vector is force: it is characterized by its value,
the line of action and sense while its point of application is arbitrary on this
line (see the axioms of statics in the Introduction).
At last, a vector of the third category a free vector is given by the
following elements:
a direction;
a length (norm).
In other words, any free vector is defined as a class of equivalence: the set
of bounded vectors having the same direction, sense and length. The classic
mechanical example of a free vector is translation of a rigid body from one
state into another: its points are replaced in the same direction and at the
same distance, i.e., it is characterized by its value and the line of action while
its point of application is not of importance.
In every separate case of using vectorial objects their category must be established.
Systems of line vectors
From the mathematical point of view such variety of vectorial objects forces
us to work out specific rules in order to handle with them. We assume that
the fundamentals of geometrical theory of free and line vectors is known (see,
e.g., Berezkin 1974). In particular, free vectors submit to the linear space
axiomatics (it is assumed to be known). Any three linear independent vectors
can be used as a basis for introducing a coordinate space that permits us to
make a step from geometry ideas to algebraic ones. With fixing of a certain
origin we may introduce the corresponding frame and treat bounded vectors
as dierence between radius vectors of their initial and terminal points.
However this mathematical apparatus gives nothing for line vectors as, in
general, we have no idea what sum of two line vectors is. At the same time
it is easy to see that any force system satisfies to the linear space axioms
(recall that, in the multibody system mechanics, any force is a line vector):
we may stretch or shrink all vectors of any system with the help of a certain
real multiplier and form the union (or dierence) of any two systems.
Let be the set of all line vectors. Consider two systems h = {k , k
K()} and h = {k , k K()} of line vectors where K() and K()
are some sets of naturales.
Definition 1.1 The systems h and h , K() 6= K(), of line vectors are
said to be equipollent
h h
if they determine the same sum x and total moment (with respect to the
same point of reduction).
The pair of vectors x and can be used for constructing various models of the
class of equipollent systems. E.g., in the conventional calculus of screws, this
pair defines a so called dual vector or screw x + where is such operator
that 2 = 0 (Dimentberg 1965, Angeles 1997). Below a simpler computeraided model is constructed (we do not aim to discuss here screw calculus as
we wish to keep the mathematical prerequisites to a minimum).
Notation 1.1 Henceforth
D3 is 3-dimensional space of points and V3 is 3-dimensional space of
free vectors associated with it;
a given line vector , x V3 is the free vector having the same
length, direction and sense as ;
a given a D3 , lxa is the action line of (i.e., the straight line passing
through the point a in parallel to the vector x), xa is the bounded vector
generated by reducing x to the point a;
a point O D3 is chosen as a so called center of reduction;
(O , a) is the bounded vector with the terminal point a (here it is possible

that a = O );
ra is the free vector with the same length, direction and sense as
(O , a).
Define the moment (free vector) of xa with respect to O
xa = ra x
(1.1)
Chapter 1
where the symbol means the vector product of free vectors.

As a line vector is defined as the class of equivalence for bounded vectors being
situated on the corresponding straight line, we may reduce the free vector x
to any point l lxa . It is well known that its moment (with respect to O ) is
equal to xa , i.e.,
rl x = xa
(1.2)
where rl is the free vector with the same length, direction and sense as (O , l).
This fact does not depend on choosing l lxa . That is why we have reasons
the free vectors x and xa to be used for describing the line vector (being
situated on the line lxa of action).
Thus we see that line vectors can be also defined as a class of equivalence for
bounded vectors having the same line of action, sense, length and the same
moment with respect of any point (Dimentberg 1965).
Definition 1.2 We shall say that a line vector is reduced to the center O
if the aggregate (the ordered couple of Pl
ucker vectors)
x
= col {x, xa }
la
(1.3)
is computed.
x
as an element of the Cartesian product of V3 V3 (while it
We defined la
3 , too) as later on we shall use other elements of V3 V3 .
belongs to V3 +V
Proposition 1.1 The set of aggregates is not a linear space.

Proof Indeed, consider a free vector y V3 and take two points a and b
such that ya 6= yb . Then there are two aggregates (generated by the free
vectors y and y with the parallel action lines lya and ly
b ) such that their
sum is col {y y, ya yb } where the first component is equal zero, and
the second component is not equal zero. But according to relation (1.1) it is
impossible (the second component must be equal zero, too). Thus this sum
is no aggregate. 2
Consider the set of all lines vectors and construct the corresponding set
of aggregates (with respect to the given center O ). Due to the fact that
xa = xl for any l lxa , for the sake of brevity we shall often omit the index
a in the notation of aggregates and their line of action.
Definition 1.3 Let h = {k , k K()} be a system of line vectors
where K() is some set of naturales. Then the sum
X
x
lk
(1.4)
h =
kK()
(of the aggregates defined with respect to the given center O ) is called a binary
vector.
In particular, a binary vector is an aggregate if the aggregates composing this

x
y
vector have action lines intersecting each other in one point a: la
+ la
=
x+y
col {x + y, ra (x + y)} = la as the set of aggregates with action lines,
intersecting each other in one point, is a linear space.
Proposition 1.2 The set H of all binary vectors is a 6-dimensional linear
space.
Proof The amount of all sums of aggregates, i.e., binary vectors, is a sum
of aggregates, i.e., a binary vector, too. As to the set dimension it is easy to
choose six (orthonormal) vectors being its basic ones. 2
Thus we may treat any aggregate as a special case of the binary vector generated by one line vector.
Proposition 1.3 The set H of equipollent systems of line vectors is isomorphic to the linear space H .
Let us finish this section with pointing out the simplest system in a given
equipollent system of line vector. This question is of importance in mechanics. In order to give the answer we define the following binary vectors and
aggregates.
Definition 1.4 Let us take a free vector x V3 and two arbitrary points a
and b D3 such that xa 6= xb . Then the binary vector h being sum of two
x
x
aggregates la
and lb
(with respect to the same reduction center O D3 )
is called a couple, and the distance h between the lines lxa and lxb is called the
couple arm.
It is easy to see that
h = col {03 , rab x}
where rab is the free vector with the same length, direction and sense as (b, a);
the symbol 03 means 3-dimensional (free or coordinate) null vector.
Note that a couple is invariant with respect to the choice of a reduction center,
as it is generated by the free vector x V3 and depends on the arm of couple.
Definition 1.5 An aggregate and a binary vector defined by
X
X
lx = col {x, 03 }, h = col {
xk , 03 }, x 6= 0,
xk 6= 0
kK()
are called degenerate.

Note that
Chapter 1
an aggregate lx is degenerate if its line of action goes through the center

O D3 , i.e., the degeneration property depends on the reduction
center;
it is not necessary for a degenerate binary vector to be always a sum of
degenerate aggregates.
Let us present the binary vector (1.4) in the form
(1)
h = col {h(1) , h(2)
, 03 } + col {03 , h(2)
} = col {h
}
where first component h(1) V3 is called the sum of the system (or the sum
(2)
of the vectors xk ), and the second component h V3 is called the total
moment with respect to the center O .
(2)
It is easy to see that the inner product (h(1) , h ) does not depend on the
point of reduction. With its help we state the following assertion (see, e.g.,
Banach 1951, Berezkin 1974).
(2)
Proposition 1.4 Depending on whether the inner product (h(1) , h ) is different from zero or equal to zero, every -system of line vectors is equipollent
to one of the systems:
(2)
the aggregate col {h(1) , 03 } and a couple having the moment h ;
two (skew) aggregates such that one of them has the action line passing
through the center O ;
one aggregate;
the zero vector.
In general, one must not suppose that the simplest system is unique. For the
sake of simplicity, classes of equipollent systems of line vectors are usually
identified with their simplest representatives.
Group of motions
Relation (1.1) can be used in order to define the two-parametric set of linear
operators Ma : V3 V3 acting by the law
xa = Ma x
(1.5)
i.e., for any vector x V3 , we have the free vector xa being equal to the
moment of x reduced to the point a with respect to the center O (see the
indices of xa ). Thus the aggregate (1.3) assumes the form
x
la
I
Ma
where I is the identity operator in V3 .
(1.6)
Choosing dierent reduction centers, we may define dierent operators generating the (1.6)-kind aggregates and the corresponding linear spaces of binary
vectors.
Let us consider two linear spaces H and H of binary vectors that generated
with respect to points O and O D3 , respectively. It is easy to see that
these spaces are isomorphic, i.e., there is the biunique correspondence defined
by the linear operator
I
O
T =
(1.7)
M I
acting from H to H (here the operator M is defined as in relation (1.5);
O is the null operator in V3 ).
It is clear that after introducing bases in H and H we may give the coordinate representation of operator (1.7) in the space R6 (it is clear that all these
spaces are isomorphic).
e = {e1 , e2 , e3 } is an orthonormal basis in V3 ;
a reduction center O D3 is chosen as the origin of the Cartesian
frame E = (O , e );
the basis vectors of E generate the coordinate space R3 and the following vectorial matrix
ke k = ke1 | e2 | e3 k
(1.8)
i.e., the matrix with entries being vectors (coordinate columns);

x = col {x1 , x2 , x3 } R3 is the column of coordinates of any x V3 ,
i.e., x = ke k x ;
the cap over the coordinate column, e.g., x means the passage from x
to the following skew-symmetric matrix
0
x3
x2
0
x1
(1.9)
x
= x3
x2
x1
0
x
be defined (with reProposition 1.5 (Konoplev 1987a) Let an aggregate la
spect to the reduction center O D3 with the help of a certain free vector
x V3 reduced to some point a D3 ). Then there is the following coordinate
x
representation of la
in R6
x
la
= Ga x
(1.10)
where
Ga
E
Ma
Ma = ra
(1.11)
Chapter 1
ra
R3 is the coordinate column (see the outer superscript) of the radius
vector (O , a) in the frame E (see the superscript); E is 3 3-dimensional

identity matrix (see also Berezkin 1974).
Introduce a new Cartesian frame E = (O , e ) with some orthonormal basis

e . We may always define the rotation matrix c such that
ke k = ke k c ,
x = c x
(1.12)
(x R3 is the column of coordinates of x in the basis e ; | det c | = 1).

o V3 is a vector of translation of E (see the subscript) to E
(see the superscript), o
is its coordinate column in e (see the outer
superscript), and o is the skew-symmetric matrix induced by o

(see
notation (1.9));
H and H are the coordinate representations of H and H generated
by the bases e and e , respectively.
Proposition 1.6 (Konoplev 1987a and 1989a,b) The isomorphism L : H
H (= L H ) is defined by the following matrix
L = T C
(1.13)
where
T
E
o
O
E
C = diag {c , c }
(1.14)
are matrices of translation and rotation (induced by the translation with the
vector o and the rotation c ), respectively; O is 33-dimensional null matrix.
Proof Suppose lxk = G xk is the coordinate representation of an aggregate
from relation (1.4). Then (see also relations (1.10) and (1.11))
L lxk = L G xk

= T C G xk = T C G c,T
c xk =
x
T G xk = G xk = lk
Taking in account that L is a linear operator and going in the both sides of
this equality to sums of the (1.4)-kind, we easily obtain the desired result. 2
From the foregoing proposition follows at once that the next assertion holds.
Proposition 1.7 The linear operator T : H H has the coordinate representation T in the basis e .
Proposition 1.8 The set of all motions L : H H is the multiplicative

group
L(R, 6) = {L : L = T C }
(1.15)
where and parameters determining which points the system of all line
vectors is reduced to.
Proof It is true because L Lp = T C Tp Cp = T C Tp C,T C Cp =
T Tp Cp = Tp Cp = Lp and (L )1 = (T C )1 = C,T (T )1 =
2
C T C,T C = T C = L L(R, 6).
Remark 1.1 We may treat two objects to be equivalent if there is an Euclidean motion transforming one of them into another (Sternberg 1964). It means
that the set of all spaces of binary vectors can be considered as the class of
equivalence defining an abstract binary vector for a given system of line vectors. In this sense we may say about computation of a binary vector at a
certain point or about its transform from one point at another.
In the multibody system mechanics, we may treat any instantaneous complex
motion as a screw motion along a certain line (this line is a so called screw
axis) (see, e.g., Banach 1951). This case is characterized by the property that
the first component of some binary vector
h = col {h(1) , h(2)
}
is parallel to the second one. If this is not the case we may always to choose
a new reduction center O such that
col {h(1) , ph(1) } = T col {h(1) , h(2)
}
(1.16)
where p is some real number which we shall define below.

Indeed, from relation (1.16) follows that there is the relation
ph(1) = o h(1) + h(2)
Using the inner product between this vector and h(1) we have
(2)
p=
(h(1) , h )
(h(1) , h(1) )
(2)
On the other hand, the vector product between ph(1) and h

(2)
o =
h(1) h
(h(1) , h(1) )
yields
10
Chapter 1
Proposition 1.9 (Dimentberg 1965) The set of all reduction points O such
(2)
that the vector h is parallel to h(1) is the straight line given by
(2)
o =
h(1) h
+ s h(1)
(h(1) , h(1) )
where s is a scalar parameter.

1.1.1. Equation of the kinematics on the group Lt (R, 6)
In general, we shall distinguish two kinds of instantaneous motion of frames:
translation and rotation. Let a matrix c = c (t) define the rotation of
the basis e with respect to the immobile basis e considered in the basis e
(| det c | = 1) (see (1.8) and (1.12)). Denote by Rt R3 the one-dimensional
subspace generated by the unit (time-varying) eigenvector corresponding to
the real (time-invariant) eigenvalue of the matrix c . It is clear that the
origin O of the rotating frame E is on Rt . Let P be the two-dimensional
subspace being orthogonal to Rt and passing through the point O . Suppose
a = (O , a) is the radius vector of a P. Let us also denote by a and a

the coordinate columns of a in the bases e and e of the immovable and
rotating frames, respectively. Then from a = c a follows that (see (1.12))
,T
= c.
a . = c.
a
c a
(1.17)
where (recall) we use convention (0.2) for any dierentiable function c = c(t).
,T .
. T
Dierentiating the relation c,T
c = E we have c c = (c ) c . Hence
,T .
,T. T T
,T . T
. ,T
c c = ((c c ) ) = (c c ) , i.e., the matrix c c is skewsymmetric. Therefore there exists a free vector w = w = ke k w =
ke k w such that
,T
w
= c.
c ,
.
w
= c,T
c
(1.18)
where w and w are the coordinate columns of w in the bases e and e ,

respectively.
It is easy to see that the vector w defines the instantaneous angular velocity
of the basis e with respect to the basis e whereas the left-hand side of relation (1.17) is the coordinate representation of the instantaneous translation
velocity of a P.
Note that the right-hand side of relation (1.17) is coordinate representation
of the vector product
v = w a
(1.19)
Thus geometrically we may determine the instantaneous angular velocity as

a line vector with the line of action which is defined by the free vectors w
and v .
11
Let us consider the case where a couple of instantaneous angular velocities w

and w defines the rotations of E and E , respectively. The origins of E
and E are on the action lines of w and w. Let P be the two-dimensional
subspace orthogonal to w. Suppose there are the points a and a where the
action lines of w and w intersect with P. Introduce the radius vector of
a P: a = (
a
, a) and a = (a , a).
With the help of relation (1.19) we may compute the translation velocities in
each rotation
v = w a ,
v = w a
and the full velocity of the point a

v + v = w (a a )
where the dierence a a depends only on the position of the axes of
rotation as it is equal to (
a
, a ).
Proposition 1.10 (Berezkin 1974) Any couple of instantaneous rotation is
equivalent to one instantaneous translation.
Henceforth we shall suppose that the frame E takes part only in instantaneous rotational motions.
w
Definition 1.6 Let Li = {lik
, wk V3 , k K()} be a system of aggregates defining the instantaneous angular velocities of the basis e with respect
to e in the rotation of E with respect to the fixed axes lw
k (here the index
i = or i = points out the frame which the system of line vectors is reduced
to). Then the sum
X
w
Wi =
lik
(1.20)
kK()
is called the twist of motion of the frame E (see the first subscript in (1.20))
with respect to E (see the superscript in (1.20)) reduced to the origin of Ei
(see the second subscript in (1.20)) (see Angeles 1997).
We may define twists in the same frame which origin corresponding systems
of line vectors is reduced to, e.g., Wi . When it is E , that is almost always
the case, the notation becomes simpler: W is replaced with W . In this
case the subindex from the coordinate notation has a double meaning being
in the same time the index of the moving frame and the index of the frame
which the twist is reduced to. Furthermore we shall use the general notation
only in the cases where an ambiguity could occur.
Proposition 1.11 The second component of W is the instantaneous velocity
v V3 of translation of E with respect to E in the instant t.
12
Chapter 1
Proof Let ck be the rotation matrices of E with the fixed axes lw

k and let
L = {lwk , k K()} be the corresponding systems of aggregates. Due to
relation (1.19) the second component of the aggregate lwk is the instantaneous
velocity vk V3 of translation of the point O (the origin of E ) with respect
to E . Going
P to summation in (1.20), we obtain for the second component of
W : v = kK() vk , that proves our proposition. 2
Due to the supposition concerning the participation of the frames only in instantaneous rotational motions, the following conclusions are a direct corollary
of the above proposition:
the instantaneous translation velocity is a free vector fixing the state of

the axis of rotation of the frame;
this velocity can be represented in the basis e as a linear combination of
coordinate columns of the instantaneous
angular velocities with constant
P
matrix coecients a
k : v = kK() a
k wk ;
twist (1.20) can also be represented in the coordinate form (in E )
X
lw
(1.21)
W =
k = col {w , v }
kK()
where
kK()
wk , v =
kK() v k .
As the twist W defines the instantaneous rotation and translation, we may

say about the matrices T (t) and C (t) and the corresponding one-parameter
group Lt (R, 6) = {L (t) : L (t) = T (t)C (t), t R}. Now we shall state
our main assertion.
Proposition 1.12 (Konoplev 1987a and 1989a) The equation of kinematics
on the one-parameter group Lt (R, 6) has the following form

O
.

=
(1.22)
L = L ,
v w
Proof With a little algebra we have

L.
= (T C ) = T. C + T C = (T. + T C C,T )C =
(T. + T [w
])C = T (T. + [w
])C =

T C C,T
C = T C = L
where
, w
}
[w
] = diag{w
(1.23)
2
Equation (1.22) permits us to introduce the operation of dierentiation in various spaces of binary vectors that can be easily realized numerically (Konoplev
1987a).
13
Proposition 1.13 The dierentiation operations in the (moving and immovable) frames E and E , respectively, are connected by the following relation
.

h.
= L (h + h )
where h H and h H are the coordinate representations of a pair of

binary vectors generated by the same system of line vectors.
.
Proof From h = L h and relation (1.22) follows that h.
= L h +
.
.

L h = L h + L h . 2
Remark 1.2 In the case where the matrix

is constant we may easily
define the exponential form of the rotation matrix

c = exp{w
t} = w w,T + cos{t}(1 w w,T ) + sin{t}w
with using the properties of the skew-symmetrical matrix w

:
,
(w
)2k+1 = (1)k w
(w
)2k = (1)k (1 w w,T )
After that we may define the other entries of the block-triangular matrix L
as some polynomial of trigonometrical functions with the help of the Cauchy
formula (Bellman et al. 1963).
1.2. Graph of a tree-like multibody system

Let us consider a system of n rigid bodies {Gk }, k = 1, n, and the corresponding graph which is defined with giving its elements (Fig. 1.1).
Introduce the following notations and concepts (Konoplev 1984, 1985a, 1987a
and 1989a,c).
Ek = (Ok , ek ) is a Cartesian frame with the origin Ok D3 and with
the basis ek = {ek1 , ek2 , ek3 } in V3 ;
ak is the radius-vector of a point a of a rigid body Gk , akk is the column
of its coordinates in the basis ek ;
N is a set of natural numbers.
It is said that the frame Ek = (Ok , ek ) is attached to the rigid body Gk if
akk is constant.
Notation 1.5 Henceforth Elk is lk-th element of the graph where the index l
stands for the trunk of the tree, and the index k stands for the corresponding
level, l, k N (see Fig. 1.1).
14
Chapter 1
Figure 1.1. Graph of a multibody system with tree-like structure
Let us assume that the graph is oriented from the root E10 to its nodes by
a sequence of indices l and k, l being said to be the principal index in this
sequence.
Definition 1.7 We shall use the following sets of the graph elements:
the set (lk)+ of accessibility, i.e., all elements of the graph that can be
reached from Elk by motion up along the tree (in the direction in which
indices increase) (Elk (lk)+ ), for the tree-like graph this set is a subtree
(with the root (lk)) of the main tree;
the set (lk) of counter accessibility, i.e., all elements of the graph that
can be reached from Elk by motion down along the tree (in the direction
in which indices decrease), for the tree-like graph, the set of counter accessibility is a kinematic chain, the first and last elements in this chain
being E10 and Elk , respectively (Elk (lk) );
the set (lk)+ of right incidence of Elk , i.e., of all elements of the graph
that can be reached from Elk for one step up along the tree (Elk
/ (lk)+ );
the set (lk) left incidence of Elk , i.e., all elements of the graph that
can be reached from Elk for one step down along the tree (Elk
/ (lk) );
two elements E,k1 and Elk are called (, k 1; lk)-th kinematic pair
if Elk (, k 1)+ for l.
We shall consider two variants of indexing the graph for a system of rigid
bodies. In the first way, the elements of the graph will be the frames taking
parts in one of the simplest motions Ek1 Ek (either translation with a
directional vector being one of the vectors from ek1 , or rotation with a fixed
vector which is from the basis ek1 again). In the second variant, the elements
of the graph will be rigid bodies taking parts in some of the simplest motions
with respect to the frames attached to them.
According to the stated above, if indices mark the frames taking parts in
one of the simplest motions, then the motion of an arbitrary kinematic pair
(, k 1; lk) is completely determined by the generalized coordinates qilk
R1 , i = 1, 6. Besides, if the motion E,k1 Elk turns out to be the
15
translation o,k1
: O,k1 Olk with the magnitude olk
i and the direction
lk
lk
lk
lk
ei e when qi = olk
,
i
=
1,
3,
and
if
the
motion
E
,k1 Elk turns
i
,k1
,k1
lk
to be the rotation clk
: e
e with a fixed unit vector elk
i3
lk
lk
lk
l
e and an angle i then qi = i for i = 4, 6. One non-constant (later
on we shall consider functional) motion in (, k 1; lk)-th kinematic pair
lk
(either translation olk
i , i = 1, 3, or rotation with the angle i , i = 4, 6)
can be preceded by several (from 0 to 6) constant (later on we shall consider
lk
constructive) translations plk
i , i = 1, 3 and rotations with angles i , i =
4, 6. If indices stand for the corresponding rigid bodies, then motion of any
(, k 1; lk)-th kinematic pair is determined by at least two and at most
six generalized coordinates q lk = col {q1l , q2l , . . . , q6l }, where qilk are defined as
above. The same is valid in the case of preliminary translations and rotations.
For any (, k 1; lk)-th kinematic pair let us introduce an intermediate Cartesian frame Elkk = (Olkk , elkk ), obtained by translation of the frame E,k1
lk lk
with the column of constructive translation p,k1
plkk col {plk
1 , p2 , p3 }
lkk
and rotation of the basis e,k1 in the basis elkk with the constructive anlk
lk
gles lk
, , , where , , = 4, 6. When the indices of angles in one
kinematic pair are the same, we shall replace the symbol with the symlk
lk
lk
lk
bol , lk
= , in the case of = . For example, (3 , 2 , 3 ) =
lk
lk
(lk
3 , 2 , 3 ).
Later, the frame Elkk = (Olkk , elkk ) will be called constructive for the kinematic pair (, k 1; lk). The transition to the constructive frame Elkk is
imposed not only by the presence of constructive motions in a direct (constructive) sense but also by the change of frames in some interdisciplinary
problems which arise due to the application of this technique. For example,
in the study of motion of an airplane with respect to a ship, it is necessary
to introduce a transition from the ship frame to the plane one, i.e. from
one console (the unit vector e3 is directed in the same direction in which the
cantilever is oriented) to another when the positions of the cantilevers can be
arbitrary, etc.
Since the methods and algorithms which are to be developed here should be
realized numerically by means of computers let us make our approach concerning functional and constructive motions in a given kinematic pair (, k 1; lk)
more formal.
the elements Elk of the graph are Cartesian frames Elk which participate
in several (from 0 to 6) constructive motions and in a functional motion
(defined by the generalized coordinates qilk , i = 1, 6, where qilk = olk
i , i=
1, 3, or qilk = ilk , i = 4, 6) with respect to the constructive frame Elkk ;
lk lk
= col {plk
plk = p,k1;,k1
1 , p2 , p3 } is the coordinate column of conlkk
,k1
of Elkk in E,k1 , represented in the basis
structive translation plkk
e,k1 ;
16
Chapter 1
,k1
lk
lk
lk = lkk
= col {lk
, , } is the column of constructive angles
of orientation of the basis elkk in the basis e,k1 .
Proposition 1.14 The relative position of the elements of (, k 1; lk)-th

kinematic pair is determined by twelve functions, combined in two sextuples
of functions
,k1
,k1
lkk
Rlk
= col {Rlkk
, Rlk
}
(1.24)
where
,k1
,k1
= col {p,k1;,k1
, lkk
}
Rlkk
lkk
(1.25)
can contain up to six functions (constants) dierent from 0;

lkk
= col {0, . . . , 0, qilk , 0, . . . , 0}
Rlk
(1.26)
can contain only one function dierent from zero.

,k1
lkk
Definition 1.8 The two sextuples of constants Rlkk
and functions Rlk
generating (1.24) are called constructive and functional configurations of the
kinematic pair (, k 1; lk), respectively.
The union of all functional configurations corresponding to all kinematic pairs,

usually are called a configuration of the system as usually.
Let the elements Elk of the graph be rigid bodies Glk with the frames Elk
attached to them which take parts in some (from 0 to 6) of the constructive
and in some (from 2 to 6) of the functional motions (defined by the generalized
lk
lk
coordinates qilk , i = 1, 6, where qilk = olk
i , i = 1, 3, or qi = i , i = 4, 6) with
respect to Elkk .
lk lk
olk = col {olk
1 , o2 , o3 } is the coordinate column of the free vector of
functional translations of Elk in the constructive frame Elkk , olk olkk
lk ;
lk = col {4lk , 5lk , 6lk } is the column of functional angles of orientation
lkk
of the basis elk in the basis elkk of the constructive frame Elkk , lk lk
.
Proposition 1.15 The relative position of the elements of (, k 1; lk)-th
kinematic pair is defined by configuration (1.24) where
,k1
lkk
Rlkk
= col {plk , lk }, Rlk
= col {olk , lk }
(1.27)
,k1
the constructive configuration Rlkk
being able to have up to six constants
lkk
dierent from 0, while the functional configuration Rlk
can have from 2 to 6
functions dierent from 0 (for the case of only one generalized coordinate see
(1.24)).
17
1.2.1. Examples of multibody systems

Henceforth we use the notation 0 = (0, 0, 0) for 3-dimensional null row.
Gyroscope on a tilted base
Mark with indices (see Fig. 1.2) frames taking parts in one of the simplest
functional motions.
Figure 1.2. Gyroscope on a tilted base and its graph
Henceforth all mobility axes of the multibody system are assumed to be reduced at the origin of motion. In the case under consideration there are
R10
R21
R32
0
0
= col {R1k
, R11k }, R1k
= (0, 0, 15 , 16 )T , R11k = (0, 0, 41 , 0)T
1
1
= col {R2k
, R22k }, R2k
= 0, R22k = (0, 0, 52 , 0)T
2
3k
2
= col {R3k , R3 }, R3k = 0, R33k = (0, 0, 0, 63 )T
Flywheel on (lk)-body
For this example we have
lk
lk
Rslk = col {Rsk
, Rssk }, Rsk
= (ps1 , ps2 , ps3 , s4 , s5 , 0)T , Rssk = (0, 0, 0, 6s )T
where ps = col {ps1 , ps2 , ps3 } is the constructive position column of the flywheel
in Elk ; s4 , s5 are the constructive angles of the flywheel orientation in elk ;
6s is the angle of the flywheel rotation in esk (see Fig. 1.3).
18
Chapter 1
Figure 1.3. Flywheel on lk-th body
Double pendulum with sliding hanger

Let us enumerate the frames which participate in the simplest motions, namely:
E1 , E2 , E3 (we skip here the first index l due to the uniqueness) (see Fig.
1.4).
The motion of the kinematic pairs (0, 1), (1, 2) and (2, 3) is defined by the
functional translation E2 with the magnitude o12 along the basic vector e02 = e12
from the basis e0 of the frame E0 = (O0 , eo ), by the functional rotation with
the fixed basic vectors e12 = e22 from the basis e2 of E2 with respect to E1
on the angle 52 , and also by the constructive translation with the fixed unit
vectors e21 = e31 and by the functional rotation with the fixed unit vector e33
from the basis e3 of E3 with respect to E2 on the angle 63 . So we obtain:
q21 = o12 , q52 = 52 , q63 = 63 , and the configuration of the system assumes the
form
R10
R21
R32
0
0
= col {R1k
, R11k }, R1k
= 0, R11k = (0, o12 , 0, 0)T
1
2k
1
= col {R2k , R2 }, R2k = 0, R22k = (0, 0, 52 , 0)T
2
2
= col {R3k
, R33k }, R3k
= (p31 , 0, 0, 0)T , R33k = (0, 0, 0, 63 )T
The sets of accessibility and contour accessibility and the sets of left and right
incidence assume the form:
(o)+
(3)+
(2)
(o)+
(o)
= {E0 , E1 , E2 , E3 }, (1)+ = {E1 , E2 , E3 }, (2)+ = {E2 , E3 }

= {E3 }, (o) = {E0 }, (1) = {E0 , E1 }
= {E0 , E1 , E2 }, (3) = {E0 , E1 , E2 , E3 }
= {E1 }, (1)+ = {E2 }, (2)+ = {E3 }, (3)+ =
= , (1) = {E0 }, (2) = {E1 }, (3) = {E2 }
19
Re-numbering the rigid bodies of the system (Fig. 1.4), we get two kinematic pairs (0, 1), (1, 2) which motions are defined by the same generalized coordinates as in the previous case, but in the slightly modified form:
q 1 = col {o12 , 51 }, q62 = 63 .
Figure 1.4. Double pendulum with sliding hanger
The system configuration is again determined by the same four functions as

in the previous case, but their form is modified
R10
R21
0
0
= col {R1k
, R11k }, R1k
= 0, R11k = (0, o12 , 0, 0, 52 , 0)T
1
1
= col {R2k
, R22k }, R2k
= (p21 , 0, 0, 0)T , R22k = (0, 0, 0, 62 )T
Manipulator
Manipulator is a technical system with many joints and 6-degrees of freedom
rigid bodies (Fig. 1.5). After re-numbering the frames which participate in
every simplest motion, we obtain
q41 = 41 , q52 = 52 , q53 = 53 , q44 = 44 , q55 = 55 , q66 = 66
Then the configuration of the system assumes the form (Konoplev 1986b,c,
Zaremba et al. 1991)
R10
0
0
= col {R1k
, R11k }, R1k
= (p11 , 0, 0, 0)T , R11k = (0, 41 , 0, 0)T
20
Chapter 1
R21
R32
R43
R54
R65
=
=
=
=
=
1
col {R2k
,
2
col {R3k ,
3
col {R4k
,
4
col {R5k
,
5
col {R6k ,
1
R22k }, R1k
= 0, R21k = (0, 0, 52 , 0)T
2
R33k }, R3k
= (0, p32 , 0, 0)T , R33k = (0, 0, 53 , 0)T
3
R44k }, R4k
= (0, p42 , 0, 0)T , R44k = (0, 44 , 0, 0)T
5k
4
R5 }, R5k = 0, R55k = (0, 0, 55 , 0)T
5
R66k }, R6k
= 0, R66k = (0, 0, 0, 66 )T
Figure 1.5. Six-component manipulator
Walking machine
The walking machine with the kinematic scheme given on Fig. 1.6 has 24
excessive generalized coordinates.
Figure 1.6.
Walking machine
21
If the elements of the graph are the joints of this system, then the configuration
of the system becomes
10
R11
11k
R11
10
11k
10
= col {R11k
, R11
}, R11k
=0
11
11
11
11
= (o1 , o2 , o3 , 4 , 511 , 611 )T
For the i-th leg we have (i = 1, 6):

11
Ri2
11
Ri2k
i2
Ri3k
i3
Ri4k
=
=
=
=
11
i2k
i2
i2
i3k
i3
i3
i4k
col {Ri2k
, Ri2
}, Ri3
= col {Ri3k
, Ri3
}, Ri4
= col {Ri4k
, Ri4
}
i2
i2
i2
T
i2k
i2
T
(p1 , p2 , p3 , 0) , Ri2 = (0, 4 , 0, 0)
i3
i3
T
i3k
i3
T
(pi3
1 , p2 , p3 , 0) , Ri3 = (0, 0, 5 , 0)
i4
i4
T
i4k
i4
T
(pi4
1 , p2 , p3 , 0) , Ri4 = (0, 0, 5 , 0)
Test bench for imitating car motion

The test bench is constructed to imitate free motion of a given machine or a
system of machines in laboratory environment (Fig. 1.7).
Figure 1.7. Test bench
This system consists of 25 rigid bodies. It has 48 excessive generalized coordinates, which are restrained by 42 holonomic constraints. The test bench
construction consists of one platform and 6 supports every of which involving
4 bodies. Every support has 7 degrees of freedom. After numbering of the
frames which participate in every simplest motion, (in contrast to the case of
the double pendulum) there are configurations:
22
Chapter 1
- for the platform

10
R11
11
R12
12
R13
13
R14
14
R15
15
R16
=
=
=
=
=
=
10
col {R11k
,
11
col {R12k ,
12
col {R13k
,
13
col {R14k ,
14
col {R15k
,
15
col {R16k ,
11k
R11
},
12k
R12 },
13k
R13
},
14k
R14 },
15k
R15
},
16k
R16 },
10
R11k
11
R12k
12
R13k
13
R14k
14
R15k
15
R16k
= 0,
= 0,
= 0,
= 0,
= 0,
= 0,
11k
R11
12k
R12
13k
R13
14k
R14
15k
R15
16k
R16
T
= (o11
1 , 0, 0, 0)
T
= (0, o12
2 , 0, 0)
13
= (0, 0, o3 , 0)T
= (0, 414 , 0, 0)T
= (0, 0, 515 , 0)T
= (0, 0, 0, 616 )T
- for i-th support (i = 1, 6)

16
Ri7
i7k
Ri7
18k
Ri8
i9k
Ri9
i10k
Ri10
i11k
Ri11
i11
Ri11k
i12
Ri13
i13k
Ri13
=
=
=
=
=
=
=
=
=
16
i7k
16
i7
i7
T
col {Ri7k
, Ri7
}, Ri7k
= (pi7
1 , p2 , p3 , 0)
i7
i7
i8k
i7
(0, 4i7 , 0, 0)T , Ri8
= col {Ri8k
, Ri8
}, Ri8k
=0
i8 T
i8
i8
i9k
i8
T
(0, 0, 0, 6 ) , Ri9 = col {Ri9k , Ri9 }, Ri9k = (0, pi9
2 , 0, 0)
i9
T
i9
i9
i10k
i9
(0, 4 , 0, 0) , Ri10 = col {Ri10k , Ri10 }, Ri10k = 0
i10
i10
i11k
i10
(0, 0, 5i10 , 0)T , Ri11
= col {Ri11k
, Ri11
}, Ri11k
=0
i11 T
i11
i11
i11k
(0, 0, 0, 6 ) , Ri12 = col {Ri11k , Ri12 }
T
i11k
i12 T
(0, pi12
2 , 0, 0) , Ri12 = (0, 0, 0, 6 )
i12
i13k
i12
i13
col {Ri13k , Ri13 }, Ri13k = (0, p2 , 0, 0)T
T
(0, oi13
2 , 0, 0)
1.3. Kinematic equations of (, k 1; lk)-th kinematic pair

Kinematic equations give the connection between the coordinates of twist of
(, k 1; lk)-th kinematic pair and the generalized coordinates and velocities
of this pair. Let us begin with deriving the main kinematic equalities of this
theory (Gantmacher 1964, Diedonne 1972, Konoplev 1986b, Velichenko 1988).
To establish them we need the following notion.
Definition 1.9 Let W = col {w , v } be the twist of motion of the frame
E with respect to E . Then the vector
V = col {v , w }
is called the quasi-velocity of E with respect to E .
Proposition 1.16 Let
Ek take part in a motion with respect to Es , and Ep take part in a
motion with respect to Ek ;
Wks , Wpk , Wps be the twists of the kinematic pairs (Es , Ek ), (Ek , Ep )
and (Es , Ep ) (see (1.20), (1.21)).
23
Then the following kinematic equalities hold

sk
kp
Wpsp = Lpk Wksk + Wpkp , Vpsp = Lk,T
p Vk + Vp
(1.28)
where
Lpk is a motion from group (1.15);
Wksk , Wpkp , Wpsp and Vksk , Vpkp , Vpsp are the coordinate representations
of the twists and the corresponding quasi-velocities.
sp
sp
kp
Proof 1. After reducing all twists to Ep , we get that Wpp
= Wkp
+ Wpp
.
After that, to prove the first equality it is enough to apply transform (1.13). 2.
To prove the second equality, let us introduce 66-dimensional matrix whose
main diagonal is formed by two 3 3-dimensional null matrixes, and whose
second diagonal is formed by two 3 3-dimensional identity matrixes. Since
= E: we get easily that Wpsp = Lpk Wksk + Wpkp where Lpk = Lk,T
p . 2
The term main emphasizes the fundamental meaning of equality (1.28): the
deriving of the kinematic equations for subsystems of the basic system is doing
with its help.
Proposition 1.17 (Konoplev 1984 and 1986b,c) Let
the configuration of the pair (, k 1; lk) be given by relation (1.24);
L,k1
= L,k1
Llkk
lk be a transformation of the coordinate columns of
lk
lkk
screws, generated by configuration (1.24), where the transformation
,k1 ,k1
L,k1
= Tlkk
Clkk
lkk
is defined by the constructive configuration

,k1
Rlkk
p,k1
lkk
,k1
= col {plkk
, ,k1
}
lkk
,k1;,k1
plk
, ,k1
,k1
lkk
lk
lkk lkk
and the transformation Llkk
is induced by the functional
lk = Tlk Clk
lkk
configuration Rlk = col {0, . . . , 0, qilk , 0, . . . , 0}:
E
O
,k1
,k1
Tlkk
, Clkk
=
= diag {c,k1
, c,k1
}
lkk
lkk
E
p,k1
lkk
,k1
clkk
lk
lk
= c3 (lk
)c3 ( )c3 ( )
lk
lk 2
lk
lk
ci3 (lk
i ) = E+e
i3 sin i + e
i3 (1 cos i )
lkk
Tlk
if i = 1, 3
Llkk
=
lkk
lk
otherwise
Clk
E O
lkk
lkk
lkk
=
= diag {clkk
Tlk
, Clk
lk , clk }
olkk
E
lk
olkk
lk
lkk
lk
= col {0, . . . 0, olk
i , 0, . . . 0}, clk = ci (i+3 ), i = 1, 3
24
Chapter 1
Then the kinematic equation of (, k 1; lk)-th kinematic pair is

lk.
oi
if i = 1, 3
,k1;lk
lkk.
lk lk.
lk.
Vlk
= Rlk = fi qi , qi =
ilk.
if i = 4, 6
(1.29)
where filk is 6-dimensional (unit) column such that its i-th entry is equal to 1
(i = 1, 6), the other ones are equal to zero.
Proof
In order to simplify the proof let us re-number by the integers
0, 1, . . . , 7 the frames that participate in every simplest constructive and functional motions of (, k 1; lk)-th kinematic pair. Hence, the motion of
(, k 1; lk)-th kinematic pair will be a superposition of the simplest motions E0 E1 . . . E7 , E0 = E,k1 , E7 = Elk , and the first six of
them p11 , p22 , p33 , 4 , 5 , and 6 are constructive, while the 7-th qi7 , i = 1, 6,
is functional.
From the second equation of (1.28) follows that
Vlk,k1;lk
1,T 01
2,T 12
01
17
27
= V707 = L1,T
7 V1 + V7 = L7 V1 + L7 V2 + V7 =
2,T 12
3,T 2,3
5,T 45
01
34
L1,T
+ L4,T
7 V1 + L7 V2 + L7 V3
7 V4 + L7 V5 +
7,T 67 67
56
06
L6,T
7 V6 + L7 V7 V7 ; V6 = 0
V767
7 7.
T
7 7.
T
col {c6,T
7 ei oi ; 0 } = col {ei oi , 0 } if i = 1, 3
col {0T , e7i i7. }
otherwise
n,n+1
=
and finally Vlk,k1;lk = col {v767 , w767 } = fi7 qi7. = filk qilk. due to Vn+1
0, n = 0, 5. 2
Let the configuration of (, k 1; lk)-th kinematic pair be given in the form
(1.24)-(1.27).

= L,k1
Llkk
L,k1
lk is transformation of the coordinates of twists inlk
lkk
,k1
,k1
lkk
= col {Rlkk
, Rlk
} where the transduced by the configuration Rlk
,k1
,k1 ,k1
is determined by the constructive conformation Llkk = Tlkk Clkk
,k1
lkk lkk
= col {plk , lk } and the transformation Llkk
figuration Rlkk
lk = Tlk Clk
lkk
lk lk
is determined by the functional one Rlk = col {o , };
q lk is the column of generalized coordinates of (, k1; lk) -th kinematic
lkk
pair (non-null elements of the functional configuration Rlk
);
lkk
lk is 3 3-dimensional matrix of the kind
T lk T lk lk
T lk lk
lk
lkk
lk = kc3 (6 )c2 (5 )e1 | c3 (6 )e2 | e3 k
lk
lk
lk
lk
clkk
in the
lk = c1 (4 )c2 (5 )c3 (6 ) be the orientation matrix for e
constructive frame Elkk ;
lkk
Mlk
= diag {clkk,T
, lkk
lk }
lk
(1.30)
25
is the matrix of transition from the generalized velocities qilk. of (, k

1; lk)-th kinematic pair to the quasi-velocities Vlk,k1;lk of the same kinematic pair.
Proposition 1.18 (Konoplev 1984 and 1986b,c) The kinematic equation of
(, k 1; lk)-th kinematic pair is
lkk lkk.
lkk
Rlk = Mlk
kf lk kq lk.
Vlk,k1;lk = Mlk
(1.31)
where kf lk k is the mobility axes matrix for (, k 1; lk)-th kinematic pair that
is constituted by the 6-dimensional unit columns filk (each of them has 1 at
its i-th position, i = 1, 6, the other ones being equal to zero).
Proof As in the previous case, to simplify the proof let us re-number by
the integers 0, 1, . . . , 12, the frames that participate in the simplest constructive and functional motions of (, k 1; lk)-th kinematic pair. Then
motion of (, k 1; lk)-th kinematic pair will be superposition of twelve simplest motions E0 , E1 , E2 , . . . , E12 , where E0 = E,k1 , E12 = Elk , the
first six of them p11 , p22 , p33 , 4 , 5 and 6 are constructive and the second
six o71 , o82 , o93 , 410 , 511 and 612 are functional. Taking in account the second
equality from (1.28) we obtain
Vlk,k1,k
0,12
2,T 12
6,T 56
7,T 67
01
= V12
= L1,T
12 V1 + L12 V2 + L12 V6 + L12 V7 +
9,T 89
10,T 9,10
10,11
78
+ L11,T
+
L8,T
12 V8 + L12 V9 + L12 V10
12 V11
11,12
8,T
67
T
78
T
= L7,T
L12,T
12 V12
12 col {v7 , 0 } + L12 col {v8 , 0 } +
10,T
9,10
89
T
T
L9,T
12 col {v9 , 0 } + L12 col {0 , w10 } +
10,11
11,12
T
T
} + L12,T
}=
L11,T
12 col {0 , w11
12 col {0 , w12
7,T 7,T
8,T 8,T
T12 col {v767 , 0T } + C12
T12 col {v878 , 0T } +
C12
9,T
10,T
9,10
col {v989 , 0T } + C12
col {0T , w10
}+
C12
11,T
10,11
11,12
col {0T , w11
} + col {0T , w12
}=
C12
10,T 9,10
10,T
69
79
89
T
col {0T , c11,T
12 c11 w10 } + C12 col {v7 + v8 + v9 , 0 } +
10,11
11,12
} + col {0T , w12
}=
col {0T , c11,T
12 w11
69
T
T 11,T 10,T 10 10.
col {c9,T
12 v9 , 0 } + col {0 , c12 c11 e1 4 } +
11 11.
T
12 12.
col {0T , c11,T
12 e2 5 } + col {0 , e3 6 } =
69
T
col {0T , 912 col {410. , 511. , 612. }} + col {c9,T
12 v9 , 0 } =
7. 8. 9.
T
col {c6,T
12 col {o1 , o2 , o3 }, 0 } +
T 6
10. 11. 12.
col {0 , 12 col {4 , 5 , 6 }} =
6
lkk
M12
(o71 , o82 , o93 , 410. , 511. , 612. )T = Mlk
kf lk kq lk.
26
Chapter 1
1.3.1. Examples of equations of kinematic pairs

Gyroscope (Fig. 1.2)
There are
V101
V323
= M11k f41 41. = Ef41 41. , V212 = M22k f52 52. = f52 52.
= M33k f63 63. = f62 63.
Flywheel (Fig. 1.3)

There is
Vs0s = f6s 6s.
Double pendulum (Fig. 1.4)
There are two variants to write down the equations. The first one is
V101
V323
1 1.
12
2k 2 2.
2 2.
= M11k f21 o1.
2 = f2 o2 , V2 = M2 f5 5 = f5 5
= M33k f63 63. = f63 63.
And the second variant is

V101
V212
1.
1 1.
1
1
1
= kf21 | f51 kcol {o1.
2 , 5 } = kf kq , kf k = kf2 | f5 k
2k 2 2.
3 3.
1.
1. 1.
2.
3.
= M2 f5 5 = f6 6 , q = col {o2 , 5 }, q6 = 6
Manipulator (Fig. 1.5)

There are
V101
V656
= M11k f41 41. = f41 41. , V212 = M22k f52 52. = f52 52. , . . . ,
= M66k f66 66. = f66 66.
Walking machine (Fig. 1.6)

There is
10,11
11k
= M11
kf 11 kq 11.
V11
11k
where for the matrix M11
we get
c11k,T
11
11k
11
f 11
Vi211,i2
=
=
=
=
cT3 (611 )cT2 (511 )cT1 (411 )

T 11 11
11
kcT3 (611 )cT2 (511 )e11
1 | c3 (6 )e2 | e3 k
11
11 11 11 11 11 11 T
E, q = (o1 , o2 , o3 , 4 , 5 , 6 )
i2k i2 i2.
i4k i4 i4.
Mi2
f4 4 = f4i2 4i2. , . . . , Vi4i3,i4 = Mi4
f5 5 = f5i4 5i4.
27
Test bench (Fig. 1.7)

For the platform from variant 1 is fulfilled that
10,11
15,16
11k 11 11.
16k 16 16.
V11
= M11
f1 o1 = f111 o11.
= M16
f6 6 = f611 616.
1 , . . . , V16
For the platform from variant 2 (by analogy with the previous system) is
fulfilled that
10,11
11k
V11
= M11
kf 11 kq 11.
11k
where in the matrix M11
we get
c11k,T
11
11
11
kf k
= cT3 (611 )cT2 (511 )cT1 (411 )

T 11 11
11
= kcT3 (611 )cT2 (511 )e11
1 | c3 (6 )e2 | e3 k
11 11 11 11 11 T
= E, q 11 = (o11
1 , o2 , o3 , 4 , 5 , 6 )
For i-th support there are

Vi716,i7
i9,i10
Vi10
= f4i7 4i7. , Vi8i7,i8 = f6i8 6i8. , Vi9i9,i9 = f4i9 4i9.

i12,i13
= f i10 5i10 , . . . , Vi13
= f2i13 oi13.
2
1.4. Kinematics of Hooke-elastic pair

Let us introduce the definition of an elastic pair.
Definition 1.10 The kinematic pair (, k 1; lk) is called an elastic one if
,k1
lk lk
lk
lk
lk T
Rlkk
= (plk
1 , p2 , p3 , , , ) is its constructive configuration;
lkk
lk lk lk lk lk T
= (olk
Rlk
1 , o2 , o3 , 4 , 5 , 6 ) is its functional configuration;
col {1lk , 2lk , 3lk } is the column of linear distortions of (, k 1)-th element of the system;
col {4lk , 5lk , 6lk } is the column of angular deformations of (, k 1)-th
element of the system;
lk
lk
lk
lk
ilk 6= 0, if olk
i = 0 or i = 0, and i = 0, if oi 6= 0 or i 6= 0,
lk
lk
lk
or i = oi = i = 0, if functional motions of arbitrary origin are not
encountered in i-th coordinate of the pair.
From the above definition conditions follows that the elements of the elastic
pair (, k 1; lk) are rigid bodies. It is easy to see that configuration (1.27)
of the elastic pair (, k 1; lk) assumes form (1.24) where (Konoplev 1986b,
Konoplev et al. 1991)
,k1
Rlkk
lkk
= col {plk , lk }, Rlk
= (1lk , 2lk , 3lk , 4lk , 5lk , 6lk )T +
lk lk lk lk lk T
lk
(olk
1 , o2 , o3 , 4 , 5 , 6 ) = col {qi }
lk
lk
and qilk is equal to olk
i , or i , or i , or 0.
28
Chapter 1
Proposition 1.19 Kinematic equations of the elastic pair (, k 1; lk) assume the following form
lkk
Vlk,k1;lk = Mlk
kf lk kq lk.
(1.32)
lkk
where Mlk
is defined by relation (1.31) with the matrices
clkk
lk
lkk
lk
= c1 (q4lk )c2 (q5lk )c3 (q6lk )

T lk lk
lk
= kcT3 (q6lk )cT2 (q5lk )elk
1 | c3 (q6 )e2 | e3 k
(1.33)
The transference of lk-th body with respect to Elkk is realized on account of

the functional motions (deformations of (, k 1)-th element) which can have
both elastic and non-elastic character (here, the influence of the first ones on
the one-index seconds is neglected).
Example
Let us consider an one-joint pendulum (see fig. 1.4) (or more precisely, the last
arm of the double pendulum) within the framework of the assumption that
first two generalized coordinates have elastic character. Due to our previous
propositions we obtain that
R10
R21
R32
V101
V323
V101
f1
=
=
=
=
=
=
=
0
0
col {R1k
, R11k }, R1k
= 0, R11k = (0, 21 , 0, 0)T
1
2k
1
col {R2k , R2 }, R2k = 0, R22k = (0, 0, 52 , 0)T ,
2
2
col {R3k
, R33k }, R3k
= (p31 , 0, 0, 0)T , R33k = (0, 0, 0, 63 )T
M11k f21 21. = f21 21. , V212 = M22k f52 52. = f52 52.
M33k f63 63. = f63 63.
kf21 | f51 kq 1. = kf 1 kq 1. , V212 = M22k f52 52. = f63 63.
kf21 | f51 k, q 1. = col {21. , 51. }, q62. = 63.
Proposition 1.20 In the study of elastic systems of rigid bodies the use of
configurations of the (1.24)-kind is not allowable.
The proof of this proposition will be given in Chapter 2.
29
1.5. Kinematic equations of lk-th element

Equations of kinematics of lk-th element of the system give a connection
between the quasi-velocities of the kinematic pairs of (10, lk)-th kinematic
chain and the quasi-velocity column Vlk10,lk of lk-th element in E10 .
Proposition 1.21 (Konoplev 1989b,c and 1990) Let
i,j1;nj
i,j1;nj
i,j1;nj
= col {vnj
, wnj
} be the quasi-velocity columns of all
1. Vnj
kinematic pairs from the set (lk) of counter accessibility for lk-th element
of the system (of some body or frame that takes part in some of the simplest
functional motions);
i,j1
i,j1
nik
2. Rnj
= col {Rnjk
, Rnj
} be configurations of all kinematic pairs from
(lk) defined by (1.25) and (1.26) or (1.27);
nik
3. Li,j1
= Li,j1
nj
njk Lnj be the motion of linear spaces of twists of all kinei,j1
from
matic pairs from (lk) that corresponds to the configuration Rnj
condition 3 (see (1.13));
nj
m,j+1
d,k1
be the composition of motions from con4. Lnj
lk = Lm,j+1 Lg,j+2 . . . Llk
dition 4 taken for all elements of lk-th kinematic chain from intersection
of the sets of accessibility and counter accessibility for the (nj)- and (lk)elements of the system, respectively.
Then the kinematic equation of lk-th element of the system in the main frame
E10 has the following form
X
i,j1;nj
Lnj,T
(1.34)
Vlk10,lk =
lk Vnj
nj(lk)
where the right-hand side is represented as the linear combination of the

i,j1;nj
columns Vnj
with the matrix coecients Lnj,T
lk .
Proof To simplify notations let us consider a kinematic chain (a tree with
only one stem), which permits us to turn to one position number indices.
Using (1.28) we obtain
Vk0,k
0,1
0,1
1,2
0,1
= L1,T
+ Vk1,k = L1,T
+ L2,T
+ Vk2,k = L1,T
+
k V1
k V1
k V2
k V1
1,2
2,3
+ L3,T
+ . . . + Vkl1,k =
L2,T
k V2
k V3
k
X
p1,p
Lp,T
k Vp
p=1
k1
where Lpk = Lpp+1 Lp+1
. 2
p+2 . . . Lk
Taking in account the kinematic equations of kinematic pairs (1.32) and (1.33),
we may write equation (1.34) in another form.

(lk) be (10, lk)-th kinematic chain;
30
Chapter 1
(i, t 1; st) be a kinematic pair of the (1.24)-kind and

stk,T st
sst
= fst,T Mst
Llk
lk
(1.35)
lk
be 6-dimensional row-operator of projection of the binary vector Xlk
(given in Elk ) without regard to its origin (kinematic, dynamic, kinetic,
etc.) on the -axis of the functional motion of st-th element of the system
in (i, t 1; st)-th kinematic pair, = 1, 6;
(i, t 1; st) be a kinematic pair of the (1.27)-kind and
stk,T st
stk,T st
st,T
sst
Mst
Llk } = kf st kT Mst
Llk
lk = col {f
(1.36)
st
lk
be (vdim q )6-dimensional matrix of projection of the binary vector Xlk
(given in Elk ) without regard to its origin (kinematic, dynamic, kinetic,
etc.) to the axis of the functional motion of st-th element of the system
in (i, t 1; st)-th kinematic pair, = 1, 6, where kf st k is the matrix of
the unit columns fst .
Then
there is the kinematic equation of lk-th element of the system in the
frame E10
X
Vlk10,lk =
snj,T
qnj.
(1.37)
lk
nj(lk)
where the right-hand side is represented as the linear combination of

columns of the generalized velocities qnj. , = 1, 6, of lk-th elements
of the kinematic chain with 6 -dimensional column-coecients snj,T
lk
for kinematic pairs of the (1.24)-(1.26)-kind;
there is the kinematic equation of lk-th element of the system in the
frame E10
X
nj.
Vlk10,lk =
snj,T
(1.38)
lk q
nj(lk)
where the right-hand side is represented as the linear combination of

columns of generalized velocities q nj. of lk-th elements of the kinematic
chain with 6 (vdim q nj. )-dimensional matrix coecients snj,T
for kinelk
matic pairs of the (1.27)-kind.
Proof The proof is easily produced with the help of substitution in (1.34)
the corresponding quantities from (1.32) and (1.33) (due to (1.37) and (1.38),
e.g.:
X
i,j1;nj
Vlk10,lk =
Lnj,T
=
lk Vnj
nj(lk)
nj(lk)
njk
nj
nj.
Lnj,T
=
lk Mnj kf kq
nj(lk)
nj.
sni,T
lk q
31
1.5.1. Examples of kinematic equations of kinematic pairs

There are
V101
= f41 41. = s14,T

41.
1
V202
1,T 1 1.
14,T 1.
01
12
2 2.
= L1,T
4 + s25,T
52.
2 V1 + V2 = L2 f4 4 + f5 5 = s2
2
V303
2,T 12
3,T 23
1,T 1 1.
2,T 2 2.
01
= L1,T
3 V1 + L3 V2 + L3 V3 = L3 f4 4 + L3 f5 5 +
41. + s325,T 52. + s36,T

63.
Ef63 63. = s14,T
3
3
s14,T
1
14,T
25,T
1
1
= f41 , s14,T
= L1,T
= L1,T
= f52
2
2 f4 , s3
3 f4 , s2
s25,T
3
L13
36,T
2
2k
2
= L2,T
= f63 , L12 = L12k L2k
2 = L2 = C2 (5 )
3 f5 , s3
3k
3
= L12 L23 , L23 = L23k L3k
3 = L3 = C3 (6 )

In the case of variant 1 there are
V101
12,T 1.
= f21 o1.
o2
2 = s1
V202
1,T 1 1.
12,T 1.
01
12
2 2.
= L1,T
o2 + s25,T
52.
2 V1 + V2 = L2 f2 o2 + f5 5 = s2
2
V303
2,T 12
3,T 23
1,T 1 1.
2,T 2 2.
01
= L1,T
3 V1 + L3 V2 + L3 V2 = L3 f2 o2 + L3 f5 5 +
25,T 2.
o1.
5 + s35,T
63.
f63 63. = s12,T
2 + s3
3
3
s12,T
1
L12
26,T
1
1
= f21 , s12,T
= L1,T
= L1,T
2
2 f2 , s3
3 f2
2
2
2
3k
1
1 2
2
3
= L12k L2k
2 = C2 (5 ), L3 = L3k L3 , L3 = L2 L3 = T3k C3 (6 )
2
is induced by the column of constructive translation
where the matrix T3k
3
3
p = col {p1 , 0, 0} (see Section 1.3.1).
V101
V202
s1,T
1
L12
1,T 1.
1 1.
= kf21 , f51 kcol {o21. , 1.
5 } = kf kq = s1 q
1,T
1,T 1.
26,T 2.
01
12
1 1.
2 2.
= L1,T
6
2 V1 + V2 = L2 kf kq + f6 5 = s2 q + s2
26,T
1
= kf 1 k, s1,T
= L1,T
= f62
2
2 kf k, s2
2
1
2
= L12k L2k
2 = C3 (6 ) = T2k C3 (6 )
1
is induced by the column of constructive translation
where the matrix T2k
2
2
p = col {p1 , 0, 0} (see Section 1.3.1).

There are
V101
= f21 41. = s14,T

41.
1
32
Chapter 1
V202
1,T 14,T 1.
01
12
= L1,T
4 + f52 52. =
2 V1 + V2 = L2 s1
52.
s214,T 41. + s25,T
2
V303
2,T 12
14,T 1.
01
23
= L1,T
4 +
3 V1 + L3 V2 + V3 = s3
53.
s325,T 52. + s35,T
3
..........................................
V606
2,T 12
14,T 1.
01
56
= L1,T
4 + s625,T 52. +
6 V1 + L6 V2 + . . . + V6 = s6
66.
s635,T 53. + . . . + s66,T
6
s14,T
6
L16
L23
L56
=
=
=
=
25,T
66,T
1
2
L1,T
= L2,T
= f66
6 f4 , s6
6 f5 , . . . , s6
1 2 3 4 5
1
1
2k
2
L2 L3 L4 L5 L6 , L2 = L2k L2 = C2 (5 )
2
3
3
3
3k
3
4
L23k L3k
3 = T3k C2 (5 ), L4 = L3k L4 = T3k C1 (4 ), . . . ,
5
6
6
L56k L6k
6 = T6k C3 (6 ) = C3 (6 )
2
3
where the matrices T3k
, T3k
are induced by the columns of constructive trans3
3
lations p = col {0, p2 , 0}, p4 = col {0, p42 , 0}.

There are
10,11
V11
Vi210,i2
11k
11.
= M11
kf 11 kq 11. = s11,T
11 q
10,11
11k
11 11.
= L11,T
+ Vi210,i2 = L11,T
+
i2 V11
i2 M11 kf kq
11.
f4i2. 4i2. = s11,T
+ si24,T
4i2.
i2 q
i2
Vi310,i3
10,11
11,i2
= L11,T
+ Li2,T
+ Vi312,i3 =
i3 V11
i3 Vi2
11.
s11,T
+ si24,T
4i2. + si34,T.
5i3.
i3 q
i3
i3
Vi410,i3
11.
= s11,T
+ si24,T
4i2. + si35,T.
5i3. + si45,T
5i4.
i4 q
i4
i4
i4

In the case of variant 1, for the platform there are
10,11
V11
10,12
122,T 11.
= s111,T
o11.
= s111,T
o11.
o2 , . . . ,
1 , V12
1 + s12
11
12
10,16
V16
122,T 12.
144,T 14.
= s111,T
o11.
o2 + s133,T
o13.
o4 +
1 + s16
3 + s16
16
16
166,T 16.
11,T 11.
o15.
o6 = Si6
q
s155,T
5 + s16
16
For i-th support there are

Vi710,i7
11,T 11.
i74,T i7.
= Si7
q + si7
4
Vi810,i8
11,T 11.
i74,T i7.
= Si8
q + si8
4 + si86,T
6i8.
i8
33
Vi910,i9
10,i10
Vi10
11,T 11.
i74,T i7.
= Si9
q + si9
4 + si86,T
6i8. + si94,T
4i9.
i9
i9
11,T 11.
i74,T i7.
= Si10
q + si10
4 + si86,T
6i8. +
i10
i94,T i9.
si10
4 + si105,T
5i10.
i10
10,i13
Vi13
11,T 11.
i74,T i7.
= Si13
q + si13
4 + si86,T
6i8. + si94,T
4i9. +
i13
i13
i116,T i11.
si105,T
5i10. + si13
6 + si126,T
6i12. + si132,T
2i13.
i13
i13
i13
where
11,T
Sij
= ks111,T
| s122,T
| s133,T
| s144,T
| s155,T
| s166,T
k
ij
ij
ij
ij
ij
ij
11,T
are the matrices (j = 6, 13) standing before the rows q 11. , the matrix S16
being the same as the matrix s11,T
from the previous example.
11
1.6. Kinematic equations of a tree-like multibody system

Let (10)+ be a multibody system with tree-like structure. We shall give
kinematic equations in several forms (Konoplev 1989a and 1990).
i,j1;nj
V = col {Vnj
} is 6n-dimensional quasi-velocity column of kinematic pairs of the system (see (1.29), (1.31)) (recall that n is the number
of rigid bodies of the system);
V = col {Vlk10,lk } is 6n-dimensional quasi-velocity column of lk-th elements of the system (see (1.37), (1.38));
L is an upper-triangular block 6n 6n-dimensional matrix with 6 6dimensional matrix blocks Lst
lk (see Proposition 1.21, condition 5) if (lk)
(st)+ and with 6 6-dimensional null matrix blocks if (lk)
/ (st)+ , Lst
lk
standing at the place of intersection of st-th row and lk-th column.
Proposition 1.23 The kinematic equations of the system with tree-like structure have the form
V = LT V
(1.39)
where L is called a configuration matrix of the system.

The proof of this statement can be produced simply by writing down matrix
form of equations (1.34) for lk-th element of the system. The reason for such
a name of the matrix L is the fact that its elements contain all information
10
).
about the configuration of the system (except the configuration R11
Let us now find the relation between the column V and that of the generalized
velocities of the system.
34
Chapter 1
Proposition 1.24 The relation between the column V and that of the generalized velocities of the system (see (1.29), (1.31)) assumes the following form
V = MFq
(1.40)
where
M is the block-diagonal 6n 6n-dimensional matrix of transition from
generalized velocities of the multibody system to quasi-velocities of their
kinematic pairs (see (1.30))
lkk
M = diag {Mlk
}
F is the block-diagonal matrix, whose blocks on the main diagonal are
the 6 (vdim q lk. )-dimensional blocks kf lk k composed by 6-dimensional
unit coordinate columns filk , (i = 1, 6), of the mobility axes of the kinematic pairs
F = diag {kf lk k}
q = col {q lk. } is the column of generalized velocities of the system,
which is composed by columns of generalized velocities of kinematic pairs
of the system.
Proof Equality (1.40) is just matrix representation of kinematic equations
of the all kinematic pairs of the multibody system. 2
From relations (1.39) and (1.40) we get the final form of the kinematic equations of the tree-like system of bodies.
Proposition 1.25 The kinematic equations of the tree-like system are
V = S T q
(1.41)
where
S = F T MT L
(1.42)
Note that S is (vdim q st ) 6n-dimensional upper triangular matrix with the

blocks
st
sst
}
lk = col {slk
(1.43)
at the intersection of (vdim q st )6n-dimensional matrix row and (vdim q)6dimensional matrix column in the case of (lk) (st)+ , and with the null block
stk,T st
at this position in the case of (lk)
/ (st)+ . Here sst
= fst,T Mst
Llk are 6lk
lk
given
dimensional rows being operators of projection of the binary vector Xlk
in Elk , which can be of arbitrary origin (kinematic, dynamic, kinetic, etc.),
on the -axis of the functional motion of st-th element from (i, t 1; st)-th
kinematic pair, = 1, 6 (see (1.35), (1.36)).
We may obtain the proof with substituting the relation (1.40) in (1.39) and
after that with multiplying the matrices F T , MT and L by hand and taking
into account (1.43).
35
Definition 1.11 The matrix S is called parastrophic matrix for the tree-like
system of bodies.
In the mechanical formalism developed here, the parastrophic matrix S plays
central role. Its name is inspired by the reason that it brings full information
about the structure of system of bodies, namely, about:
inner configuration of the system and the structure of kinematic scheme
of the system, with the help of the matrix L;
transition from quasi-coordinates of system to generalized coordinates of
the system with the help of the matrix M;
character of motion in respect to any one of the degrees of freedom,
for which stands the matrix F which is composed by 6-dimensional unit
columns (along the directions of motions of the system).
The physical meaning of the matrix S is clear: S projects the 6n-dimensional
lk
column P = col {Plk
} of binary vectors of arbitrary origin on the axes of motion of the system. The matrix S T produces the inverse operation: it transforms the generalized velocities of the system into the quasi-velocity columns
(1.41) (in the twists).
Above the theory of constructing the parastrophic matrix is considered in
detail. The concluding algorithm for constructing it (numerically or symbolically) is presented by the three next procedures (the content of which depends
on the choice of indices):
the matrices sst
st that constitute the main diagonal of (1.43) are formed
by the relation
stk,T
st T
sst
st = kf k Mst
In the case of using configuration (1.24), there are no computational expenditure as
stk,T
sst
= fst,T Mst
fst,T
st
the matrices L,k1

of all kinematic pairs (, k 1; lk) of the system are
lk
formed according to
L,k1
= L,k1
Llkk
lk
lk
lkk
st
(st)-rows of the matrices sst
lk are formed with starting from s,t+1 by the
relation
,k1
st
sst
lk = s,k1 Llk
1.6.1. Examples of constructing configuration matrices

Gyroscope on a tilted base and double pendulum (Fig. 1.2)
There are
V = col {V101 , V202 , V203 }
V = col {V101 , V212 , V323 }
E
L= O
O
L12
E
O
L13
L23
E
36
Chapter 1

There are
E
O
, L=
.
V = col {V101 , V212 , V323 , . . . , V656 }
O
V = col {V101 , V202 , V303 , . . . , V606 }
L12
E
.
O
L13
L23
.
O
. L16
. L26
. .
. E

There are
V
V
10,11
10,12
10,13
10,14
10,22
10,23
10,24
= col {V11
, V12
, V13
, V14
, V22
, V23
, V24
,...,
10,62
10,63
10,64
V62 , V63 , V64 }
10,11
11,12
12,13
13,14
11,22
22,23
23,24
= col {V11
, V12
, V13
, V14
, V22
, V23
, V24
,...,
11,62
62,63
63,64
V62 , V63 , V64 }
L=
E
O
O
O
O
O
O
.
O
O
O
L11
12
E
O
O
O
O
O
.
O
O
O
L11
13
L12
13
E
O
O
O
O
.
O
O
O
L11
14
L12
14
L13
14
E
O
O
O
.
O
O
O
L11
22
O
O
O
E
O
O
.
O
O
O
L11
23
O
O
O
L22
23
E
O
.
O
O
O
L11
24
O
O
O
L22
24
L23
24
E
.
O
O
O
. L11
62
. O
. O
. O
. O
. O
. O
.
.
. E
. O
. O
L11
63
O
O
O
O
O
O
.
L62
63
E
O
L11
64
O
O
O
O
O
O
.
L62
64
L63
64
E
The number of non-null 6 6-dimensional blocks used above is 55.

There are
V
V
10,11
10,12
10,16
10,17
10,18
10,19
10,110
= col {V11
, V12
, . . . , V16
, V17
, V18
, V19
, V110
,...,
10,113
10,67
10,68
10,69
10,610
10,613
V113 , . . . , V67 , V68 , V69 , V610 , . . . , V613 }
10,11
11,12
15,16
16,17
17,18
18,19
19,110
= col {V11
, V12
, . . . , V16
, V17
, V18
, V19
, V110
,...,
112,113
16,67
67,68
68,69
69,610
612,613
V113
, . . . , V67 , V68 , V69 , V610 , . . . , V613
}
37
The matrix L has the following
E
O O O O
O O O O
L=
O O O O
O O O O
O O O O O
O O O O O
structure

O O
O O
O O
O O
O
O
where 36 42 and 42 42-dimensional blocks and (respectively) are

formed as in the previous example.
1.6.2. Examples of kinematic equations of kinematic pairs
There is
M = diag {E, E, E}, F = diag {f41 , f52 , f63 }, q = col {41. , 52. , 63. }
In the case of variant 1 there is
2. 3.
M = E, F = diag {f21 , f52 , f63 }, q = col {o1.
2 , 5 , 6 }

F = diag {kf 1 k, f63 }, MF = F, q = col {q 1. , 63. }
1.
kf 1 k = kf21 | f51 k, q 1. = col {o1.
2 , 5 }
There are
M = E, F = diag {f41 , f52 , f53 , f44 , f55 , f66 };
q = (41. , 52. , 53. , 44. , 55. , )T

There are
10
M = diag {M11
, E, E, . . . , E}
38
Chapter 1
= diag {E, f412 , f513 , f514 , f422 , f523 , f524 , f432 , f533 , f534 , f442 , f543 ,
f544 , f452 , f553 , f554 , f462 , f563 , f564 }
= (q 11. , 412. , 513. , 514. , 422. , 523. , 524. , 432. , 533. , 534. , 442. ,
543. , 544. , 452. , 553. , 554. , 462. , 563. , 564. )T
F
q

There are
F
= diag {f111 , f212 , f31 f414 , f515 , f616 , f417 , f618 , f419 , f5110 , f6111 , f6112 ,
f2113 , f427 , f628 , f429 , f5210 , f6211 , f6212 , f2213 , f467 , . . . ,
f568 , f469 , f5610 , f6611 , f6612 , f2613 }
11. 17. 18. 19. 110. 111. 112. 113. 27. 28. 29. 210.
= (o1 , 4 , 6 , 4 , 5 , 6 , 6 , o2 , 4 , 6 , 4 , 5 ,
6211. , 6212. , o213.
, . . . , 467. , 668. , 49. , 5610. , 6611. , 6612. , o613.
)T
2
2
1.6.3. Examples for constructing parastrophic matrices

There is
s14
1
S=
O
O
1
s214
s225
O
2
s14
3
s25
3
36
s3
3
14
25
36
where
s14
1
= f41,T , s14
= f41,T L12 , s14
= f41,T L13
2
3
s24
2
= f52,T , s25
= f52,T L23 , s36
= f63,T
3
3

12
s1
s212 s12
3
S= O
s225 s25
3
O
O
s36
3
1
2
3
12
25
36
where
s12
1
= f21,T , s12
= f21,T L12 , s12
= f21,T L13
2
3
s25
2
= f52,T , s25
= f52,T L23 , s36
= f63,T
3
3
(1.44)
39
1
s12
s1
1
S=
26
O s26
2
1
2
where
s11 = kf 1 kT , s12 = kf 1 kT L12 , s26
= f62,T
2
There is
S=
s14
1
O
O
O
O
O
1
s214
s225
O
O
O
O
2
s14
3
s25
3
s35
3
O
O
O
3
s14
4
s25
4
s35
4
s44
4
O
O
4
s514
s525
s535
s544
s555
O
5
s14
6
s25
6
s35
6
s44
6
s55
6
s66
6
6
14
25
35
44
55
66
where
s14
1
s14
4
= f41,T , s14
= s14
L12 , s14
= s14
L23
2
1
3
2
= s14
L34 , s14
= s14
L45 , s14
= s14
L56
3
5
4
6
5
Non-null elements of the other rows can be computed or constructed in the

similar form by using analogous recurrent algorithms.
There is
S=
s11
11
O
O
O
O
O
O
11
s11
12
f412,T
O
O
O
O
O
12
s11
13
124
s13
f513,T
O
O
O
O
13
s11
14
s124
14
s135
14
f514,T
O
O
O
14
s11
62
62,T
f4
62
s11
63
O
O
O
624
s63
f563,T
O
63
s11
64
O
O
O
624
L64
634
s64
f564,T
64
11
12 4
13 5
14 5
62 4
63 5
64 5
where the number of 6 6-dimensional non-null blocks is 19 and of 3 6dimensional non-null ones is 36.
40
Chapter 1

Here the parastrophic matrix has the same structure as the matrix S from
the previous example, but now the number and dimension of non-null blocks
is dierent: here the number of 6 6-dimensional blocks is 49, of 3 6dimensional ones is 240 and of 1 6-dimensional ones is 48.
Amount of computational operations
Let us compute the amount of operations (N /N+ ), that is necessary to
construct the numerical form of the parastrophic matrix of a standard sixcomponent arm with kinematic pairs having constructive translation along
one of the coordinates and also one functional rotation. The parastrophic
matrix of such system is upper triangular with blocks (1.43) in its upper-right
part. Its main diagonal consists of 6-dimensional unit columns fit,T , t = 1, 6,
which are not to be computed. Above the main diagonal there are n(n 1)/2
rows st
computed with the help of the relation
k
k1
kk
st
= st
, Lk1
= Lk1
k
k1 Lk
k
kk Lk
6-dimensional rows st
of the diagonal, which are situated above the main
k
k1
diagonal of the matrix, are computed by selecting i-th row of the matrix Tkk
kk
and subsequent multiplication to the matrix Ck . The maximal value of the
working time for such one operation is (2/0), and hence for the all matrix
it will be (n 1)2/0. For the 6-dimensional rows st
of the next diagonal
k
(their number is n 2) are required maximum (n 2)4/2 operations, for the
6-dimensional rows st
of the next diagonal are required at most (n 3)8/4
k
operations. For the any one from the other (n2 n/2) (n 1) (n 2)
(n 3) rows st
are necessary 10/6 operations (multiplication of the fully
k
t kk
completed rows st
to Tkk
Ck ). After summing up these results we obtain
k
that the maximal value of the working time of the algorithm for constructing
the parastrophic matrix is
N (n) = 5n2 21n + 26, (N (6) = 80)
N+ (n) = 3n2 15n + 20, (N+ (6) = 38)
(1.45)
For values of n less than 10, the presented estimation is overstated.

For example, the parastrophic matrix for the manipulator PUMA has only one
row s14
with estimation of the working time (10/4) and none with estimation
4
(10/6) (see Section 1.6.3 - manipulator), which in the last three kinematic
pairs is caused by the absence of constructive translations. With increasing
n, the filling of the row st
increases also and estimation (1.45) of the working
k
time tends asymptotically to the actual value.
Chapter 2
Equations of motion for a multibody system
2.1. Equations of motion of an element of a multibody system

Consider a system elements of which are rigid bodies, their motion being
assumed to be restricted by connections with other elements of the system
(internal constraints) and also with bodies from the external environment
(external constraints). In this chapter only holonomic internal constraints
will be regarded.
E0 is a frame with the origin O0 and the basis e0 ;
G is a body of the multibody system and Es is a frame attached to it
(with the origin Os and the basis es );
ss
ss
xs is the radius vector of any point x G in Es , xss = col {xss
1 , x2 , x2 }
s
is its coordinate column in the basis e .
Proposition 2.1 The sliding vector lsv (in Es ) (generated by the free vector
v(x) vx0 of translation velocity of the point x with respect to E0 ) is the following linear transformation of the linear (coordinate) space of quasi-velocities
of the rigid body
lsvs = sx Vs0s
(2.1)
0s
where Vss
= Vs0s = col {vs0s , ws0s } is the vector of quasi-velocities (in the basis
s
e ) of Es with respect to E0 (see Definition 1.9); sx is 6 6-dimensional
matrix of the kind
xss
sx =
x
ss
xss x
ss
and (see (1.9))
x
ss
0
= xss
3
xss
2
xss
3
0
xss
1
xss
2
xss
1
0
41
42
Chapter 2
Proof From w
s0s xss =
xss ws0s =
xss ws0s follows that
0s
E
O
vx
lsvs =
=
O x
ss
vx0s
0s
E
O
vs + w
s0s xss
=
O x
ss
vs0s + w
s0s xss
0s
E
xss
vx
= sx Vs0s
x
ss
xss x
ss
wx0s
2
Proposition 2.2 The mass of G is defined by the integral

Z
m(G) = G m(dx)
where G is the characteristic function of points of D3 being occupied by G;
m(dx) is a (Borel) mass measure.
Definition 2.1 We shall
Z say that
s
1
rc = m (G) G xs m(dx)
is the radius vector of the centroid of G in Es ;

the point c G, settled in Es by the radius vector rcs , is the center of
gravity or also the centroid of G;
3 3-dimensional matrix
Z
ss = G x
ss x
ss m(dx)
(2.2)
is the inertia matrix of the body G with respect to the point 0s (see subscript) in the basis es (see superscript).

6 6-dimensional inertia matrices 00 and ss (Mises ones) of the rigid
body G defined at the points 00 and 0s (the lower index) in the bases e0
and es (the upper index) are defined in the form
m(G)E
rckk m(G)
(2.3)
kk =
rckk m(G)
kk
where k = 0 or k = s;
the integrals
Z
=
G l0v0 m(dx),
Q00
G0
Q0s
Gs =
G lsvs m(dx)
(2.4)
are the kinetic binary vectors in the motion of G in E0 with respect to

the frames E0 (see the inner indexes) and Es (see the outer indexes),
respectively.
43
Proposition 2.3 Let L0s L(R, 6) be the transformation of the coordinates

of binary vectors that is induced by the motion Es E0 . Then
the kinetic binary vector Q0s

Gs of G being in motion in Es taken with
respect to E0 is a linear transformation of the space of quasi-velocities of
G (Konoplev 1989a,c and 1990)
s 0s
s 0s
Q0s
Gs = s Vss = s Vs
(2.5)
0s
the kinetic binary vectors Q00
G0 and QGs are connected by the following
relation
0 0s
Q00
G0 = Ls QGs
(2.6)
the Mises matrices 00 and ss are connected by

00 = L0s ss L0,T
s
(2.7)
Proof 1. With the help of (2.1), (2.2) we obtain

Z
Z
vs
0s
=
l
m(dx)
=
G sx Vss
m(dx) =
Q0s
G s
Gs
Z
0s
= ss Vs0s
G sx m(dx)Vss
2. Equation (2.6) is fulfilled due to the matrix L0s definition; 3. The proof
0 00
of the equality Q00
Gs = 0 Vs0 is similar to the one in the proof beginning.
00
0s
00
0 s,T 0s
= Ls,T
Because of (1.28), we get Vs0
0 Vss and therefore QGs = 0 L0 Vss .
00
0 0s
0 s 0s
But from (2.5) and (2.6) follows that QG0 = Ls QGs = Ls s Vs . Therefore
00 Ls,T
= L0s ss , and finally, taking in account (1.15), we obtain (2.7). 2
0
Henceforth we shall refer to binary vectors of reaction, friction and so on as
wrenches (Murray et al. 1993) (sometimes the condition, that its components
are parallell, is additionally included in the notion of a wrench, but we do not
demand it (see, e.g., Banach 1951, Targ 1976)). For the sake of brevity we introduce them with the help of integrals of the above kind (with corresponding
densities) without giving their formal definitions.
the body Glk is an element of some tree-like system;
E10 is an inertial frame and Elk is a frame attached to Glk ;
10,lk
10,lk
Vlk10,lk = col {vlk
, wlk
} is the vector of quasi-velocities of Glk with
respect to E10 in Elk ;
lk
lk is the Mises matrix of Glk in Elk (the constant matrix (2.3) is
calculated at the initial point Olk and in the basis elk of the frame attached
to the body);
44
Chapter 2
j,k+1
lk
Rlk
(i, k 1; lk) and Rj,k+1
(lk; j, k + 1) are wrenches of reactions of the
body Gi,k1 (lk) to the body Glk , and of the body Glk to the body
Gj,k+1 (lk)+ , respectively,
lk
lk
Rlk
= Rlk
(i, k 1; lk)
j,k+1
Llk
j,k+1 Rj,k+1 (lk; j, k + 1)
(2.8)
j,k+1
lk
Nlk
(i, k 1; lk) and Nj,k+1
(lk; j, k + 1) are the wrenches of friction of
Gi,k1 (lk) about Glk , and of Glk about Gj,k+1 (lk)+

lk
lk
Nlk
= Nlk
(i, k 1; lk)
j,k+1
Llk
j,k+1 Nj,k+1 (lk; j, k + 1)
j,k+1
lk
Ulk
(i, k 1; lk) and Uj,k+1
(lk; j, k + 1) are the wrenches of control of
motion of the body Glk with respect to the body Gi,k1 (lk) and of
Gj,k+1 (lk)+ with respect to Glk , respectively,
lk
lk
Ulk
= Ulk
(i, k 1; lk)
j,k+1
Llk
j,k+1 Uj,k+1 (lk; j, k + 1)
lk
Plk
is the aero-hydrodynamic wrench of the body Glk in Elk ;
Glk
lk is the wrench of gravity of the body Glk in Elk ;
10,lk
lk is the matrix of quasi-velocities of the body Glk of the (1.22)-kind;
lk
lk
lk
lk
lk
lk
= Rlk
+ Ulk
+ Nlk
, Hlk
= Plk
+ Glk
Zlk
lk
(2.9)
Proposition 2.4 The equation of motion of the body Glk as an element of

the tree-like system of rigid bodies has the following form (Konoplev 1985a)
10,lk
10,lk
lk
lk
lk
) + 10,lk
lk
= Zlk
+ Hlk
lk (Vlk
lk Vlk
lk
(2.10)
where means the operation of dierentiation in Elk .

Proposition 2.5 The Mises matrix has two 3-dimensional invariant subspaces of quasi-velocities (one subspace of translation and another of rotation). In the corresponding frame Elkc = (Olkc , elkc ) there is the following
representation
lkc
lkc
lkc = diag {m(G)E3 , lkc }
To prove this statement it is enough to choose the center of gravity of Glk in

(2.3) as the origin of the frame attached to the body, i.e., rclk,lk = 0.
Recall that a frame with origin at the centroid of Glk is called the central
inertial one.
45
Proposition 2.6 The Mises matrix has 6 invariant subspaces in the space of
quasi-velocities. In the suitable basis it looks as follows
lkc
lkc
lkc
lkc
lkc = diag {m(G), m(G), m(G), I44 , I55 , I66 }
(2.11)
The proof of this proposition is obtained easily by application of some general

theorems about symmetric matrices.
Definition 2.2 A frame where the Mises matrix is diagonal is called the principal central inertial one.
If we accomplish the operation of multiplication of the matrices in the lefthand side of relation (2.10) taking in account (2.11) we shall obtain the conventional form of the Newton-Euler equations for motion of a rigid body written
in the principal central inertial frame.
Definition 2.3 We shall say that
a rigid body is dynamically non-balanced in Elk if its Mises matrix is
of the (2.3)-kind;
a rigid body is dynamically asymmetric if in its Mises matrix (2.11)
there is the following relation
lkc
lkc
lkc
6= I55
6= I66
I44
(2.12)
2.1.1. Equations of motion of an element of a system carrying dynamically

non-balanced and asymmetric rotating bodies
0 =(0, 0, 0) is 3-dimensional null row;
Glk is a rigid body which supports dynamically non-balanced and asymmetric rotating bodies Gs (it is set on lk-th element, Glk is lk-th element
of a multibody system); s = 1, 2, . . . , N (lk); N (lk) is the number of bodies
Gs ;
Es (with the basis es ) is a frame attached to the body Gs , and ss is
the Mises matrix which is associated with the body and has the (2.3)-form
under condition (2.12);
Elk (with the basis elk ) is a frame attached to lk-th element of the
system that takes part in the simplest relative motions;
6s is the angle of rotation of es in the basis elk with the unit vector elk
6 =
es6 (e.g., see Section 1.3.1), the angular velocities 6s , s = 1, 2, . . . , N (lk),
do not depend on motion of lk-th body, and f6s = col {0T , es3 };
Rssk = (0, 0, 0, 6s )T is the functional configuration of the kinematical
pair (lk, s);
46
Chapter 2
lk
Rsk
= (ps1 , ps2 , ps3 , s4 , s5 , 0)T is the constructive configuration of the
kinematical pair (lk, s), where ps1 , ps2 and ps3 are coordinates of the constructive vector plk,lk
= ps of position of the body Gs in the basis elk ; s4
s
s
and 5 are the constructive angles of orientation of the basis es in the
basis elk (e.g., see Section 1.2.1);
lk sk
Llk
s = Lsk Ls is the matrix of transformation of Elk into Es (see (1.13))
lk
corresponding to the configurations Rsk
and Rssk ;
the re-notations
N (lk)
Glk
lk +
X
s=1
N (lk)
s
lk
lk
Llk
s Gs Glk , Plk +
is used for the sake of brevity.
X
s=1
s
lk
Llk
s Ps Plk
Proposition 2.7 (Konoplev 1987b) The equation of motion of (lk)-body, carrying N (lk) bodies Gs , has the following form
10,lk
lk 10,lk
lk
lk
lk
Alk
+ Blk
Vlk
= Zlk
+ Hlk
+ Tlk
lk Vlk
(2.13)
where
N (lk)
Alk
lk
= lk
lk +
s lk,T
lk
lk.
Llk
, Blk
= 10,lk
Alk
s s Ls
lk + Alk
lk
s=1
N(lk)
Alk.
lk
X
s=1
Llk
es3 ]ss ss [
es3 ])Llk,T
6s.
s ([
s
N(lk)
lk
Tlk
Jslk
=
=
N(lk)
s
Llk
s Gs
s=1
(10,lk
Llk
s
lk
s s
(Islk 6s.. + Jslk 6s. ), Islk = Llk
s s f6
s=1
lk s s.
Ls [
e3 ]6 )ss f6s ,
[
es3 ] = diag{
es3 , es3 }
(recall) [w] = diag{w, w} for any 3 3-dimensional matrix w.

2.1.2. Equations of motion of an element of a multibody system in inertial
medium
Proposition 2.8 Let there be given a variable continuous medium D having a
common boundary with the rigid body such that the kinetic binary vector Q10,lk
D
of the system D in Elk in motion with respect to E10 is linear transformation
of the linear space of quasi-velocities of the body Glk
10,lk
Q10,lk
= lk
lk Vlk
D
where the constant symmetric matrix lk

lk is the one of apparent additional
masses of Glk .
47
Then motion of the rigid body with respect to E10 in the frame Elk is described
by equation (2.13) (Konoplev 1986b and 1987b)
10,lk
lk 10,lk
lk
lk
lk
Alk
+ Blk
Vlk
= Zlk
+ Hlk
+ Tlk
lk Vlk
lk
lk
where lk
lk is replaced with lk + lk .
2.2. Equations of motion of a tree-like multibody system

s and t are indexes of the last stem and of the last element of the
system, respectively, {Glk } is a multibody system with tree-like structure
where lk = 11, st (Konoplev 1989a,c and 1990), n is the number of rigid
bodies of the system;
lk
F = col {Flk
} is 6n-dimensional vector of the wrenches (see (2.10),
(2.9), (2.13))
lk
Flk
lk
lk
lk
lk
lk
= Klk
+ Glk
lk + Tlk = Zlk + Hlk + Tlk =
lk
lk
lk
lk
lk
lk
Rlk + Ulk + Nlk + Plk + Glk + Tlk
R is the vector of wrenches of internal reactions of the system (see
(2.9))
lk
}
R = col {Rlk
U is 6n-dimensional vector of control wrenches of the system, u is the

vector-column of control forces u(, k 1; lk) along the axes of motion of
the kinematical pairs (, k 1; lk) from the system, vdim u(, k 1; lk) =
P
s,k1
lk vdim qlk
lk
U = col {Ulk
}
u = col {u(10, 11), u(11, 12), . . . , u(, k 1; lk), . . . , u(, t 1; st)}
(among the components of u(, k 1; lk) there can be zero ones, this fact
meaning that a free motion is realized in direction of these generalized
coordinates);
N is the vector of wrenches of friction along the axes of motion of the
system, n is the vector-column of the forces of friction n(, k1; lk) along
the axes of motion of the kinematical pairs (, k 1; lk), vdim n(, k
P
s,k1
1; lk) = lk vdim qlk
lk
N = col {Nlk
}
n = col {n(10, 11), n(11, 12), . . . , n(, k 1; lk), . . . , n(, t 1; st)}
48
Chapter 2
Proposition 2.9 Let S be the parastrophic matrix of the system of bodies (see
(1.42)). Then:
R Ker S, i.e.,
SR = 0
(2.14)
the parastrophic matrix S extracts the control force u and the friction
force n from the wrenches U and N , respectively,
u = SU, n = SN
(2.15)
Proof To prove the above we note that the operator S projects wrenches
of any origin on the axes of motion of the system (see the paragraph after
the proof of Proposition 1.25). Relation (2.14) is equivalent to the fact that
motion of a system of bodies under the action of wrenches of inner reactions
is impossible: the projections of all such wrenches on all axes are zero.2
In Chapter 1 we gave two ways of indexing elements of the system graph:
we introduced indices for bodies and separately frames taking part in every
simplest motion. For that reason, dierent forms of representation of the
system configuration appeared that permit us to obtain suitable forms of
equations of motion. Now, we shall start with the first one.
,k1
,k1
= col {Rlkk
, Rlklkk } is the configuration of Glk of the (1.27) Rlk
kind;
V = col {Vlk10,lk } is 6n-dimensional vector of quasi-velocities of bodies
from the system (see (1.39));
A = diag {Alk
lk } is the block constant inertia 6n6n-dimensional matrix
(see (2.13));
} is the matrix of quasi-velocities with 66-dimensional
= diag {10,lk
lk
blocks (1.22);
H + T = col {(H + T )lk
lk } is 6n-dimensional vector of wrenches of reaclk
lk
tions of the inner environment Hlk
= Plk
+Glk
lk and the action of rotating
lk
bodies Tlk (supported by the system) on the system of bodies.
Proposition 2.10 There are the following equation of motion of the multibody system with tree-like structure:
in terms of quasi-velocities
SAV + SAV = S(H + T )+u + n
(2.16)
in terms of generalized velocities

A(q)q + B(q, q )q = Q
where
(2.17)
A(q) = SAS T , B(q, q ) = SBS T + SAS T. , Q = S(H + T ) + u + n
49
Proof To obtain relation (2.16), it is enough to write down equations (2.13)

for all elements of the system in the matrix form and multiply from the lefthand side with the matrix S taking in account (2.14) and (2.15). Relation
(2.17) is obtained as a simple application of the kinematical equations (1.41)
to relation (2.16). 2
Proposition 2.11 Due to (1.43), (1.31) the derivatives sst.
of the rows of
lk
S from equality (2.17) are computed by the following recurrent formulae
sst.
lk
sst.
st
n,k1
n,k1 n,k1;lk
= sst.
+ sst
lk
n,k1 Llk
n,k1 Llk
stk,n.
fst,n Mst
,
Vlkn,k1;lk
(2.18)
lkk lk lk.
= Mlk
f q
stk,T.
where, due to (1.31), for the elements of the matrix Mst
there are
cstk.
st
stk.
st
stk,st
= cstk
st
st w
T st T st st.
T st T st st st. st
= k[
est
e2 5 ]e1 |
3 c3 (6 )c2 (5 )6 c3 (6 )c2 (5 )
st T st st. st
T
e3 c3 (6 )6 e2 | 0 k
(2.19)
Consider now algorithms for constructing equations of motion in the case of

indexing frames.
,k1
,k1
lkk
Rlk
= col {Rlkk
, Rlk
} is the configuration of Glk of the (1.24)(1.26)-kind;
Vf = col {Vlk10,lk } is 6n-dimensional vector of quasi-velocities of the
frames (see (1.39));
A = diag {Alk
lk } is 6n 6n-dimensional block-diagonal inertia matrix of
the system, and its diagonal blocks are Alk
lk (2.13) and also null 6 6dimensional blocks with indexes corresponding to motion of pseudo-bodies;
} is 6n6n-dimensional block-diagonal matrix of quasi = diag {10,lk
lk
velocities with 6 6-dimensional blocks (1.22);
H + T = col {(H + T )lk
lk } is 6n -dimensional vector of the wrenches
representing the action of the external medium and all rotating bodies on
the system of bodies.
Proposition 2.12 The equations of motion for the given multibody system
with tree-like structure, in terms of quasi-velocities and generalized velocities,
have the form (2.16), (2.17). Besides the coecients of the equations are
expressed by the following relation (see (1.29))
(
n,k+1
st
lk.
+ sn,k1
elk
sst.
st.
o
n,k1 Tlk
slk
=
(2.20)
st.
st
lk
lk.
sn,k1 C3 ( ) + sn,k1 C3 (lk )[
elk
]
50
Chapter 2
where the first case is given for i = 1, 3, while the second one is otherwise;
elk
is 6 6-dimensional matrix, lower-left 3 3-dimensional block of
which is elk
and all others are zero,
[
elk
elk
lk
] = diag{
,e
}
(2.21)
2.2.1. Equations of motion of double pendulum

Consider double pendulum with sliding hanger (Fig. 1.4). Let Lkkc be the
transition matrix from an arbitrary frame Ek , attached to k-th arm, (k = 2, 3),
to the main central inertial frame Ekc for this arm (Definition 2.2). According
to (2.7) there are the following relations
k,n
11 = 0, kk = Lkkc kc
kc Lkc , k = 2, 3
where kc
kc are the diagonal Mises matrices of the (2.11)-kind; 33-dimensional
k
blocks ki
kj , i, j = 1, 2, of the matrix k have the form
0
0
0
k2,n
k1
k2
k
0
0
rc1
m1
k1
k1 = mk E3 , k2 = k1 , k1 =
k
0 rc1 m1
0
k2
k2
k
k
k 2
k
k 2
= diag {I44
, I55
+ (rc1
) m1 , I66
+ (rc1
) m1 }
(2.22)
k
where rckk = col {rc1
, 0, 0}.
Compute the matrix A(q) = SS T , where = diag {11 , 22 , 33 } , and S is
the parastrophic matrix for the double pendulum (see Section 1.6.3). Then
there is
12
12
A12 A12
12
25 A36
25
25
25
A(q) = A25
A
A
12
25
36
36
36
36
(2.23)
A36
A
A
12
25
36
12 25 36
where
A12
12
= s12
22 s12,T
+ s12
33 s12,T
=
2
3
2
3
T
f21,T 22 f21 + (s36 , c36 , 0, 0)33 (s36 , c36 , 0, 0) =

m2 + m3 s2 63 + m3 c2 63 = m2 + m3
A12
25
= s12
22 s25,T
+ s12
33 s25,T
=
2
3
2
3
(s36 , c63 , 0, 0)33 (0, 0, p31 , s36 , c63 , 0)T +
(0, 1, 0, 0)22 (0, 0, 1, 0)T = 0 + 0 = 0
A12
36
= s12
33 s36,T
= (m3 s63 , m3 c63 , 0, m3 r13 c63 ) (0, 0, 0, 1)T =
3
3
51
m3 r13 c63
A25
25
2
3 2 3
3 2 3
= s25
22 s25,T
+ s25
33 s25,T
= I55
+ I44
s 6 + I55
c 6 +
2
3
2
3
m2 (r12 )2 + m3 (p31 + r13 c63 )2

A25
36
A36
36
= s25
33 s36,T
=
3
3
3
(0, 0, p31 , s63 , c63 , 0)33 (0, m3 r13 , 0, I66
+ m3 (r13 )2 )T = 0
3
= s36
33 s36,T
= I66
+ m3 (r13 )2
3
3
Let us now determine the matrix B(q, q ) = SS T + SS T. , where =

02
03
0k
0k
diag {01
1 , 2 , 3 }. The matrices k are composed by the vectors Vk of
quasi-velocities (see Section 1.5.1). They contain the following
011
11
022
21
011
021
031
= 012
12 = 12 = 22 = 32 = 0
012
021
022
031
= 11 , 21 = 22 , 31 = 032
32
where i is the number of 3 6-dimensional matrix rows, j is the number of

6 3-dimensional matrix columns, i, j = 1, 2.
Therefore there is no loss of computational time only for the construction of
the following four matrices:
0
0 o1.
0
3.
52.
2
6
0 0 , 031
012
= 0
63.
0
52. s63.
11
31 =
1.
2.
3.
2.
3.
o2 0 0
5 c6 5 s6
0
2.
3 2.
1. 3.
0
0 5
0
p1 5
o2 6
3.
p31 52.
0 0 , 032
0
o1.
021
= 0
2 s6
21
31 =
2.
1. 3.
1. 3.
5 0 0
o2 c6 o2 s6
0
Let us now compute the matrix S , in which the only rows s12.
and s25.
3
3
are dierent from zero (due to (2.20)). With the use of We get (see notation
(2.21))
s12.
3
s25.
3
= s12.
C3 (63 ) + s12
C3 (63 )[
e33 ]63. = 0 +
2
2
(0, 1, 0, 0)C3 (63 )[
e33 ]63. = (s36 , c36 , 0, 0)[
e33 ]63. =
(s36 , c36 , 0, 0)[
e33 ]63. = (c63 63. , s63 63. , 0, 0)
25.
3
= s2 C3 (6 ) + s25
C3 (63 )[
e33 ]63. = 0 +
2
(0, 0, 1, 0)C3 (63 )[
e33 ]63. = (0, s63 , c63 , 0)[
e33 ]63. =
(0, c63 63. , s63 63. , 0}
The computation, carried out here, are aimed to demonstrate the use of relation (2.20). The same results can be obtained with the help of direct dier, s25
.
entiation of the rows s12
3
3
Taking in account (2.22), let us compute 6-dimensional rows at
of the mak
trix S:
a12
1
= a125 = a36
= a36
=0
1
2
52
Chapter 2
a12
2
a25
2
a25
3
= (0, m2 , 0, m2 r12 ), a12

= (m3 s63 , m3 c63 , 0, m3 r13 c63 )
3
2
= (0, 0, m2 r12 , 0, I55
+ m2 (r12 )2 , 0)
3
3
= (0, 0, m3 (p31 + r13 c63 ), I44
s63 , (I55
c + m3 (r13 )2 )c63 , 0) +
3 3
m3 p1 r1
3
= (0, m3 r13 , 0, I66
+ m3 (r13 )2 )
a36
3
1
Calculate the elements Bij
, i, j = 1, 3, of the matrix SS T. :
1
1
1
1
1
1
1
1
1
B11
= B12
= B13
= B21
= B23
= B32
= B33
= 0, B22
= 63. , B31
= 63.
where
0
= 0
63.
SS T.
0
63.
0
0
0 , = m3 r13 s63
0
(2.24)
3
3
= {(I44
I55
)c63 m3 (p31 + r13 c63 )r13 }s63
Let us compute 6-dimensional rows at

of the matrix S:
k
a12
1
a25
3
a36
3
= a212 = a12
= a25
= a25
= a36
= a36
=0
3
1
2
1
2
3. 3
3. 3
= (0, 6 c6 , 6 s6 , 0)
3 1. 3
2. 3 2. 3
= (o1.
2 c6 , o2 s6 , 0, 5 c6 , 5 s6 , 0)
of S :
Compute 6-dimensional rows dt
k
d12
1
d12
3
d25
3
d36
3
=
=
=
=
d12
= d12
= d25
= d25
= d36
= d36
=0
2
3
1
2
1
2
3 3.
3 3.
3 3 3.
(m3 c6 6 , m3 s6 6 , 0, m3 r1 s6 6 )
3
3
(0, 0, m3 r13 s63 63. , I44
c63 63. , (I55
+ m3 (r13 )2 )s63 63. , 0)
3 1.
3 3 2.
3
3 2.
(m3 c63 o1.
2 , m3 s6 o2 , m3 r1 s6 5 , I44 c6 5 ,
3
(I55
+ m3 (r13 )2 )s63 52. , m3 r13 s63 o1.
2 )
Thus for the matrices SS T and B(q, q ) = SS T. + SS T we obtain
0
0
SS T = 0 63.
0 52.
63.
0
, B(q, q ) = 0
0
63.
o1.
2
2. 3.
As q = col {o1.
2 , 5 , 6 }, we have
(63. )2
b(q, q ) = B(q, q )q = 252. 63.
(52. )2
0
263.
52.
63.
0
1.
o2
(2.25)
53
Substituting with (2.23) and (2.25) in (2.17) we obtain the final scalar form
of the equations of motion for double pendulum with moving hanging point:
(m2 + m3 )o1..
2
2
2 2
(I55 + m2 (r1 )
m3 r13 c63 o1..
2
+ m3 r13 c63 63.. + (63. )2 = Q1

3
3 2 3 2..
+ m3 (p31 + r13 c63 )2 + I44
s236 + I55
c 6 )5 +
2. 3.
25 6 = Q2
3
+ (I66
+ m3 (r13 )2 )63.. (52. )2 = Q3
(2.26)
where Q = col {Q1 , Q2 , Q3 } = SH + u + n.

Remark that all coecients of the inertial terms in the equations are either
constant or functions of the third generalized coordinate 63 .
2.3. Equations of Hooke-elastic body system motion
{Glk } is the system of elastic elements for a given system of bodies,
whose elements are labeled according to (1.27) (pay attention to the last
requirement);
lk
Clk
(i, k 1; lk) is the wrench of action of (i, k 1)-th body on lk-th body
that arises in result of the elasticity of (i, k 1)-th body;
C(i, k 1) is 6 6-dimensional matrix of stiness of (i, k 1)-th body,
non-zero rows and columns of which have indexes corresponding to the
indexes of the axes of kinematical motion for (i, k 1; lk)-th kinematic
pair (see Section 1.5);
lkk,T lk
the generalized forces Mlk
Clk (i, k 1; lk) of elasticity are linear
transformation of the columns of the generalized coordinates kf lk kq lk of
the kinematical pair (i, k 1; lk), with regard of the above hypothesis (we
assume here that the rigid bodies obey to Hooke elasticity law),
lkk,T lk
Mlk
Clk (i, k 1; lk) = C(i, k 1)kf lk kq lk
C is the block-diagonal matrix with blocks kf lk kT C(i, k 1)kf lk k.

Proposition 2.13 There are:
the motion equation of lk-th element of the system of bodies
10,lk
lk 10,lk
lk
lk
lk
lk
Alk
+ Blk
Vlk
= Zlk
+ Hlk
+ Tlk
+ Clk
lk Vlk
P
j,k+1
lk
lk
where Clk
= Clk
(i, k 1; lk) j Llk
j,k+1 Cj,k+1 (lk; j, k + 1); the other
symbols are the same as in equation (2.13);
the equation of motion for the elastic bodies that obey to the Hooke law
(Konoplev 1986b, Konoplev et al. 1991b)
A(q)q + B(q, q )q + Cq = S(H + T ) + u + n
T
T.
where A(q) = SAS , B(q, q ) = SBS + SAS .
(2.27)
54
Chapter 2
In the case of indexing the frames that take parts in the simplest motions of the
(1.24)-(1.26)-kind, blocks kf lk k in all formulae from the previous proposition
have to be changed to kfilk k but the equations of motion will not be more
equivalent to equations (2.27) (unlike the case of non-elasticity (2.17)). It
is due to the fact that the matrix kf lk kT C(i, k 1)kf lk k contains non-zero
elements outside of the main diagonal, or in other words takes into account
the mutual influence of the elastic motions along dierent directions. In the
case where we index frames that participate in the simplest motions, i.e., in
the case where we use configuration (1.24)-(1.26), the matrices kf lk kT C(i, k
1)kf lk k become just elements (numbers) flk,T C(i, k 1)flk of the matrix C,
situated at its main diagonal.
The levels of non-stationary state of the elastic (fast) and non-elastic (slow)
motions in system (2.27) are significantly dierent. As a result, this dierence
leads to some computational obstacles in the integration of these equations.
System (2.27) can be presented in more convenient form for using some special
methods of investigation.
P is the operation of permutation of rows and columns of the matrices
A(q), B(q, q ), C from relation (2.27) such that
+
O O
A+ (q) A
+ (q)
, PC =
PA(q) =
O C
A (q) A (q)
B+ (q, q ) B+ (q, q )
PB(q, q ) =
+
(q, q ) B
(q, q )
B
+
(q), D
(q) and D
(q) are the
where for any matrix symbol D D+ (q), D+
matrices of contribution of one motion (upper index) into another motion
(lower index), (+) stands for non-elastic (slow) motion, and () stands
for elastic (fast) motion;
q = col {q+ , q }, q+ , q are the generalized coordinates of non-elastic
(slow) and elastic (fast) motions;
F+ , F are the matrices of 6-dimensional unit vectors of non-elastic
and elastic motions, respectively.
Proposition 2.14 There are the equations of motion for the system of bodies
with elastic elements that obey to the Hooke law
+

A+
+ (q)q+ + B+ (q, q )q+ + A+ (q)q + B+ (q, q )q =
A
(q)q
B
(q, q )q
A+
(q)q+
T
P[S(H + T ) + u + n]
F+
+
+ B
(q, q )q+
+ C
q =
T
P[S(H + T )]
F
55
Example
Assume that in double pendulum with moving hanging point (Section 1.3.1)
the initial motion is induced by the elasticity of the stand (with index 0).
Then: o12 = 21 , 52 = 52 (Fig. 1.4)
q = col { 1 , 62 }, 1 = col {21 , 51 }
(2.28)
In this case the matrix C from equations (2.27) will assume the following form

kf21 | f51 kT C(0, 1)kf21 | f51 k O

kf 1 kT C(0, 1)kf 1 k O
=
C =
O
O
O
O
c22 c25 0
c52 c55 0
0
0
0
Therefore the generalized elastic forces have the following form
Cq = col {c22 21 c25 51 , c52 21 c55 51 , 0}
Using configuration (1.24)-(1.26), we obtain the
the form
f21,T C(0, 1)f21

0
C =
0
f51,T C(0, 1)f51
0
0
Cq
= col {c22 21 , c52 21 , 0}
matrix C and column Cq in

c22
0
0
0 =
0
0
0
c55
0
0
0
0
If we substitute with (2.28) the corresponding expression in (2.26) and accomplish all operations in the left-hand side of this relation, then we have the
following equations of motion of the system
(m2 + m3 )21.. + m3 r13 c63 63.. + (63. )2 c22 21 c25 51 = Q1
51.. + 251. 63. c22 21 c25 51 = Q2
3
m3 r13 c63 21.. + (I66
+ m3 (r13 )2 )63.. (51. )2 = Q3
where
Q = col {Q1 , Q2 , Q3 } = SH + u + n
3
3
= {(I44
I55
)c63 m3 (p31 + r13 c63 )r13 }s63 , = m3 r13 s63
2
3 2 3
3 2 3
= I55
+ m2 (r12 )2 + m3 (p31 + r13 c 36 )2 + I44
s 6 + I55
c 6
Let us remark that all coecients of the considered here partially elastic
system do not depend on the generalized coordinates of elastic origin. They
are either constant, or functions of the generalized coordinate 63 .
56
Chapter 2
2.4. Eective forms of equations of multibody system motion

In the case of straightforward use of matrix operations in the construction
of equations (2.17), we must take into account that there is a great number
of repeatedly multiplications and also of multiplications. Consider now some
methods for reduction of the number of operations, i.e., methods aimed to
increase the eciency of the algorithms for constructing equations of motion
for the system of bodies.
O(n3 )-operation algorithms for constructing entries of inertia matrices
App , Bpp are 6 6-dimensional inertia matrices from equations (2.17) of
motion for p-th element of the system of bodies, p lk;
(st, lk)+ = (st)+ (lk)+ is the intersection set of the sets of accessibility
of st-th and lk-th elements of the system, respectively;
st
st
Alk
, Blk
are the entries of the matrices A(q) and B(q, q ), respectively, which are situated at intersection of (st)-th rows and (lk)-th
columns;
stk,T st
sst
= fst,T Mst
Lp , p (st)+ are the rows of the parastrophic
p
matrix S for the system of bodies.
Proposition 2.15 (Konoplev 1989b and Konoplev et al. 1992b) The equations of motion for the given tree-like system of rigid bodies can be presented
in the form
A(q)q + B(q, q )q = S(H + T ) + u + n
(2.29)
where for p (st, lk)+

Ast
lk
sst
App slk,T
p
p
(2.30)
(sst
Bpp slk,T
+ sst
App slk,T.
)
p
p
p
p
(2.31)
p(st,lk)+
st
Blk
p(st,lk)+
are determined by means of the recurrent procedures (2.18), (2.20))

(sst.
p
and for p
/ (st, lk)+
st
Ast
lk = Blk = 0
The proof of this statement is obtained after successive multiplication of the

matrices in (2.17).
st
Let us remark that all elements Ast

lk , Blk of the matrices A(q), B(q, q )
p
p
depend only on the analogous matrices Ap , Bp of the elements of system
57

TABLE 2.1.
A(q)q + B(q, q )q = S(H + T )
N (n)
N+ (n)
N (6)
N+ (6)
S, (1.42)
A(q), (2.30)
d
B(q, dt
q), (2.31)
SH, (2.29)
5n2 21n + 26
n3 + 6n2 7n
2n3 + 36n2 26n
3n2 + 3n
3n2 15n + 20
n3 + 2.5n2 3.5n
2n3 + 18n2
22.5n2 + 2.5n
80
390
1572
126
38
285
996
105
3n3 + 50n2 51n + 26
3n3 + 26n2 30n
2168
1424
N + N+
6n3 + 76n2 81n + 46
3592
(2.13) and also on the rows sst

(1.35) of the parastrophic matrix S of
p
system (1.41).
Estimations of the working time necessary to construct equations of motion
for the system of bodies (2.29) are given in Table 2.1 for the case of algorithms
(2.30) and (2.31):
Note that the condition p (st, lk)+ (in relations (2.30) and (2.31)) permits
us to define the decomposed structure of the matrices A(q) and B(q, q ) before
their constructing.
O(n2 )-operation algorithms for constructing matrices of the kinetic energy
V = col {Vlk10,lk } is the vector of quasi-velocities of the system of bodies
with tree-like structure (see (1.39));
q = col {q lk. } is the vector of generalized velocities of the system.
Definition 2.4 The quadratic form
T =
1
1 T
V AV = (q )T A(q)q
2
2
is called kinetic energy of the system of bodies with tree-like structure, the
matrices A and A(q) being called matrices of the kinetic energy of the system
of bodies in quasi-velocities and in generalized velocities, respectively.
Mind that A is the block-diagonal matrix with blocks (2.13).
58
Chapter 2
Proposition 2.16 (Zaremba et al. 1991) There is the following relation

X
lk
st lk,T
Alk
Llk
(2.32)
+ = Alk +
st A+ Lst
st(lk)+
where
st
Alk
+ , A+ are 6 6-dimensional inertia matrices defined for subtrees
(lk)+ and (st)+ of the main tree with branches (lk) and (st), respectively;
Llk
st L(R, 6) is the matrix of transformation of Est in Elk , (st)
(lk)+ ;
(lk)+ is the set of right incidence of lk-th element of the system (see
Definition 1.7).
P
P
lk st lk,T
lk lk,T
lk st lk,T
Proof Alk
= Llk
=
+ =
lk Alk Llk + st(lk)+ Lst Ast Lst
st(lk)+ Lst Ast Lst
P
lk
lk st lk,T
Alk + st(lk)+ Lst A+ Lst . 2
lk
be 6-dimensional row of the kind
Proposition 2.17 Let +
lk
lkk lk
= Alk
+
+ Mlk f
(2.33)
Then
st
to compute or construct analytically the element Alk
from the rightupper part of the matrix of kinetic energy of the system O(n2 )-operation
algorithm can
used
best
lk
+
if (lk) (st)+
s
st
lk
Alk
=
(2.34)
0
otherwise
for the right-upper part of the matrix of kinetic energy the matrix
representation is fulfilled
A+ (q) = SA+ MF
where (recall that S is the parastrophic matrix of system (see (1.42))
lkk
lk
A+ = diag {Alk
+ }, M = diag {Mlk }, F = diag {f }
Proof 1. According to (2.30) we have that

X
st
Alk
=
sst
App slk,T
=
p
p
p(st,lk)+
stk,T st p lk,T
lkk lk
fst,T Mst
Lp Ap Lp Mlk
f =
p(st,lk)+
stk,T st lk p lk,T
lkk lk
fst,T Mst
Llk Lp Ap Lp Mlk
f =
p(st,lk)+
stk,T st
Llk (
fst,T Mst
p lk,T
lkk lk
Llk
)Mlk
f =
p Ap Lp
p(lk)+
lkk lk
Alk
sst
+ Mlk f
lk
lk
= sst
+
lk
59
2. Equality (2.34) can be proved by multiplication of the matrices from the

right-hand side the equality, and using of (2.33). 2
The estimation of the computational working time for algorithm (2.34) (with
taking into account the loss of working time for calculating the matrix S)
assumes the following form
N (n) = 3n2 + 76n 80, N (6) = 484
N+ (n) = 2.5n2 + 75.5n 79, N+ (6) = 464
(2.35)
Example
The matrix of kinetic energy for double pendulum with sliding hanger is
f21,T 1+ f21
s12
2+ f52
s12
3+ f63
12
2
3
2,T 2 2
25 3 3
25
A(q) = f52,T 2+ s12,T
f5 + f5
s3 + f6
2
3,T 3 12.T
3,T 3 25,T
3,T 3 3
36
f6 + s3
f6 + s3
f6 + f6
t+1 t,T
k
t
t
t
where according to (2.10) and (2.32) Alk
lk = k , + = t + Lt+1 + Lt+1 ,
t+1
t+1 t+2 t+1,T
t+2
= t+1
t+1
+ = t+1 + Lt+2 + Lt+2
t+1 as + = 0.
O(n)-operation algorithm for constructing b(q, q )

The straightforward calculation or analytic construction of the column b(q, q )
= B(q, q )q in (2.29) can be done by using the O(n3 )-operation algorithm
(2.31). Belkov (1992) suggested a more eective, linear in n, algorithm for
constructing this column.
Proposition 2.18 Let the algorithm for numerical or analytical constructing
of the vector b(q, q ) = B(q, q )q , due to (1.41), be taken in the form
b(q, q ) = S(AX + BV), X = S T. q
(2.36)
Then there is a recurrent (from the root of the tree (11) to the branches)
O(n)-operation algorithm for constructing the vector X
Xlk
10;,k1
= L,k1,T
X,k1 + L,k1,T.
V,k1
lk
lk
X11
11k.
= M11
kf 11 kq 11.
(2.37)
11k.
and M11
are constructed (in numerical or anwhere the matrices L,k1,T.
lk
10;,k1
is
alytical form) by using algorithms (1.22) and (2.19), while vector V,k1
constructed by using the kinematical equations for system (1.41) and taking
into account that the matrix S has been constructed at the step of constructing
the matrix A(q).
60
Chapter 2
Proof Producing multiplication for lk-th column Xlk in the right-hand side
of the equality X = S T. q , we may easily obtain that
X p,T.
Xlk =
slk
qp.
p(lk)
,k1
But it follows from (1.43), that sp
= sp
. Hence
lk
,k1 Llk
Xlk
,k1,T. p,T p.
p.
(L,k1,T
sp,T.
s,k1 q ) =
lk
,k1 q + Llk
p(lk)
L,k1,T
lk
,T. p.
,k1,T.
sp
,k1 q + Llk
p(lk)
L,k1,T
lk
p.
sp,T.
,k1 q
L,k1,T.
lk
p(,k1)
as slk
,k1 = 0.
p.
sp,T
,k1 q =
p(lk)
L,k1,T
X,k1
lk
10;,k1
L,k1,T.
V,k1
lk
p,T p.
s,k1
q =
p(,k1)
Example
The computation of the vector X for double pendulum with sliding hanger
(Fig. 1.4) turns out to be a simple application of the results from Sections
1.2.1, 1.3.1, 1.6.2 (see notation (1.23)):
X1
= (M11k f21 ) q21. = 0 where M11k f21 = f21
X2
1,T. 0,1
T. 2 1 1.
= L1,T
= L1,T
2 X1 + L2 V1
2 0 + C2 (5 )f2 o2 =
1 1.
[w
212 ]T C2T (52 )f21 o1.
2 = f2 o2 = 0
X3
2,T. 0,2
= L2,T
= 0 + C3T. (63 )V20,2 =
3 X2 + L3 V2
25,T 2.
o1.
5 ) =
[w
323 ]T C3T (63 )(s12,T
2 + s2
2
23 T T
3
T 1.
[w
3 ] C3 {(6 )(0, 1, 0, 0) o2 + (0, 0, 1, 0)T 52. } =
3 1.
T
3 2.
3 2.
T
[w
323 ]T (s63 o1.
2 , c6 o2 , 0, 0) + (0, s6 5 , c6 5 , 0) =
3 1.
3 2.
3 2.
T
[w
323 ]T (s63 o1.
2 , c6 o2 , 0, s6 5 , c6 5 , 0) =
3.
3 1. 3.
3 2. 3.
3 2. 3.
T
(c63 o1.
2 6 , s6 o2 6 , 0, c6 5 6 , s6 5 6 , 0)
Here [w] = diag{w, w} for any 3 3-dimensional matrix w.

the algorithm for numerical or analytical constructing of the vector
b(q, q ) be presented, with using (1.41), in the form
b(q, q ) = F T MT Z, Z = LY, Y = (AX + BV), X = S T. q
61
the vector X = S T. q be computed by algorithm (2.37);

(cd) be a bud of the tree.
Then there is the recurrent (from the buds (cd) to the root of the tree (11))
O(n)-operation algorithm for constructing the vector Z
X
Z,k1 = Y,k1 +
L,k1
Zlk , Zcd = Ycd
lk
(,k1)+
Proof We shall prove this statement in two steps: in the first, giving a
relevant example (Fig. 2.1), we shall explain the idea of the proof, and in the
second one we shall present the formal proof.
The matrix L of the system (see Fig. 2.1) assumes the form
11
E O
O E O O O 12
O O E O O O O O O 13
O O O E O O O 23
L=
O O O O E O O O O 24
O O O O O E O O O 34
O O O O O O E 42
O O O O O O O E 43
44
O O O O O O O O E
41 12 13 23 24 34 42 43 44
where = Lst
lk , (lk) (st)+ , due to the way of defining (1.39).
Figure 2.1. Graph of a multibody system with tree-like structure
After multiplying of the matrix L with the vector Y, we obtain 9 matrix

equalities
Z11
11
11
11
11
= Y11 + L11
12 Y12 + L13 Y13 + L23 Y23 + L24 Y24 + L34 Y34 +
62
Chapter 2
Z12
Z13
Z34
Z43
=
=
=
=
11
11
L11
42 Y42 + L43 Y43 + L44 Y44
12
12
12
Y12 + L12
13 Y13 + L23 Y23 + L24 Y24 + L34 Y34
23
Y13 , Z23 = Y23 + L23
Z24 = Y24
24 Y24 + L34 Y34 ,
42
Y34 , Z42 = Y42 + L43 Y43 + L42
Y
44 44
Y43 + L43
Y
,
Z
=
Y
44
44
44 44
Let us note that for each (, k 1)-th element of the system, the column
Z,k1 turns out to be the sum of Y,k1 and Lp,k1 Yp , taken for all p-th
elements which belong to the set of accessibility for (, k 1)-th elements of
system. To end the matter, note that if (, k 1)-th element is turns to be
bud ((, k 1)+ = ) then Z,k1 = Y,k1 .
Let us begin to transform the obtained system of equalities starting from the
bud and to root (11) in the agreement of the desired assertion:
Z44
= Y44
Z43
43
= Y43 + L43
44 Y44 = Y43 + L44 Z44 = Y43 +
L43
p Zp
p(43)+
Z42
42
42
= Y42 + L42
43 Y43 + L44 Y44 = Y42 + L43 Z43 = Y42 +
L42
p Zp
p(42)+
where (43)+ is the set of right incidence of 43-th element of the system (see
Definition 1.7), i.e., the set of all elements supported by 43-th element; for
elements (42) and others, see the system graph (Fig. 2.1).
Z34
Z23
= Y34 , Z24 = Y24

23
23
23
= Y23 + L23
24 Y24 + L34 Y34 = Y23 + L24 Z24 + L34 Z34 =
X
Y23 +
L23
p Zp , Z13 = Y13
(23)+
Z12
12
12
12
= Y12 + L12
13 Y13 + L23 Y23 + L24 Y24 + L34 Y34 =
12
12
12
Y12 + L12
13 Z13 + L23 Y23 + L24 Y24 + L34 Y34 =
12
23
23
Y12 + L12
13 Z13 + L23 (Y23 + L24 Y24 + L34 Y34 ) =
X
12
Y12 + L12
L12
13 Z13 + L23 Z23 = Y12 +
p Zp
(12)+
Z11
12
12
12
12
Y11 + L11
12 (Y12 + L13 Y13 + L23 Y23 + L24 Y24 + L34 Y34 ) +
42
42
11
11
L11
42 (Y42 + L43 Y43 + L44 Y44 ) = Y11 + L12 Z12 + L42 Z42 =
Y11 +
L11
p Zp
(11)+
Thus for an arbitrary index of element from the system under consideration,
63
we have
X
Z,k1 = Y,k1 +
Lp,k1 Zp , Zcd = Ycd
p(,k1)+
Let us present now the formal proof.

After doing the multiplications of the block matrices in the relation Z =
LY, Y = col {. . . , Yij , . . .}, we obtain for (, k 1)-th element of the system
Z,k1
L,k1
Yp =
p
p(,k1)+
Y,k1 +
(lk)(,k1)+ p(lk)+
Y,k1 +
(lk)(,k1)+
Y,k1 +
L,k1
lk
L,k1
Llk
p Yp =
lk
X
Llk
p Zp =
p(lk)+
L,k1
Zlk
lk
(lk)(,k1)+
Example
Let us compute the vector b(q, q ) for double pendulum with sliding hanger
(Fig. 1.4) by using Sections 1.2.1, 1.3.1, 1.5.1. To compute the third component of b(q, q ) let us use the fact that Z3 = Y3 and successively multiplication
from the left-hand side
b3
3 03
= f63,T (33 X3 + 03
3 3 V3 ) =
3 03
f63,T 33 X3 + f63,T 03
3 3 V3
f63,T 33 X3
3 03
f63,T 03
3 3 V3
3
3.
= (0, m3 r13 , 0, 0, 0, I66
+ m3 (r13 )2 )X3 = m3 r13 s63 o1.
2 6
3 1.
3 2.
3 2.
3 03
= (c63 o1.
2 , s6 o2 , 0, c6 5 , s6 5 , 0)3 V3 =
3 1.
3 1.
3
3 2.
3
(m3 c6 o2 , m3 s6 o2 , m3 r1 s6 5 , I44
c63 52.
3
03
(I55
+ m3 (r13 )2 )s63 52. , m3 r13 s63 o1.
2 )V3 =
3.
2. 2
o1.
2 6 (5 )
where and are determined in (2.24).

After summing the obtained results, we obtain b3 = (52. )2 . Unfortunately
the computation of the other components of the vectors Y2 and Y3 must be
produced entirely
b2
= f52,T Z2 , Z2 = Y2 + L23 Z3 = Y2 + L23 Y3
b1
= f21,T Z1 = f21,T (Y1 + L12 Z2 )
64
Chapter 2
3 03
Determine the column Y3 = 33 X3 + 03
3 3 V3 . To this end we shall define
33 V303
3 03
03
3 3 V3
33 X3
3 1.
3 3.
3
3 3 2.
= col {m3 s63 o1.
2 , m3 c6 o2 + m3 r1 6 , m3 (p1 + r1 c6 )5
3
3
I44
s63 52. , (m3 r13 (p31 + r13 c63 ) + I55
c63 )52.
3
3 2 3.
m3 r13 c63 o1.
2 + (I66 + m3 (r1 ) )6 }
3 1. 3.
= col {m3 c6 o2 6 m3 (p31 + r13 c63 )c63 (52. )2
3.
3
3 3
3 2. 2
m3 r13 (63. )2 , m3 s63 o1.
2 6 + m3 (p1 + r1 c6 )s6 (5 ) ,
3
3
3
3
m3 r13 s63 52. 63. , (I66
I55
)c63 52. 63. , (I44
I66
3 2
3 2. 3.
1. 3.
2. 2
m3 (r1 ) )s6 5 6 , o2 6 (5 ) }
3.
3 1. 3.
3 3 2. 3.
= col {m3 c63 o1.
2 6 , m3 s6 o2 6 , m3 r1 s6 5 6 ,
3
3
3.
I44
c63 52. 63. , (I55
+ m3 (r13 )2 )s63 52. 63. , o1.
2 6 }
Finally for the column Y3 we obtain

Y3
2
= col {m3 (p31 + r13 c63 )c63 (52. )2 m3 r13 (3.
6 )
m3 (p31 + r13 c63 )s63 (52. )2 , 2m3 r13 s63 52. 63. ,
3
3
3
3
3
3
(I66
I55
+ I44
)c63 52. 63. , (I44
I66
I55
2m3 (r13 )2 )
3 2. 3.
2. 2
s6 5 6 , (5 ) }
Let us determine the column

Y2
22 V202
2 02
02
2 2 V2
2 02
2 2. 2
T
= 22 X2 + 02
2 2 V2 = col {m2 r1 (5 ) , 0, 0, 0 }
2 2.
3
2 2 2.
2 1.
= col {0, m2 o1.
2 , m2 r1 5 , 0, (I55 + m2 (r1 ) )5 , m2 r1 o2 }
2
T
2
= col {m2 r12 (
2.
5 ) , 0, 0, 0 }, 2 X2 = 0
1 01
1
Determine the column Y1 = 11 X1 + 01
1 1 V1 = 0 when 1 = 0.
Compute also the columns of Z = col {Z1 , Z2 , Z3 }:
Z3
Z2
Z1
= Y3
= Y2 + L23 Z3 = Y2 + L23 Y3 = Y2 + T32 C(63 )Y3 =
col {m3 r13 c63 (63. )2 (m3 (p31 + r13 c63 ) + m2 r12 )(52. )2 , (63. )2 ,
3
3
3
252. 63. , (I66
+ 2(I44
I55
)c63 s63 + 2m3 (r13 )2 s2 63 )52. 63. , 2,
m3 r13 p31 s63 (63. )2 (52. )2 }
= Y1 + L12 Z2 = 0 + C2 (52 )Z2 = C2 (52 )Z2
Let us determine the coordinates of the vector b(q, q ) = col {b1 , b2 , b3 }

b1
= f21,T Z1 = f21,T L12 Z2 = f21,T C2 (52 )Z2 = f21,T Z2 = (63. )2
b2
= f52,T Z2 = 252. 63. , b3 = f63,T Z3 = (52. )2
that agrees with our results obtained previously. Asymptotic estimation of

the computational capacity of the above algorithm for computer constructing
of the vector b(q, q ) is
N (n) = 67n 4, N (6) = 398
N+ (n) = 55n 4, N+ (6) = 326
65

TABLE 2.2.
S, (1.42)
A(q), (2.30)
d
b(q, dt
q), (2.31)
SH, (2.29)
P
N + N+
A(q)q + b(q, q ) = SH
N (n)
N+ (n)
N (6)
N+ (6)
5n2 21n + 26
n3 + 6n2 7n
67n2 4n
3n2 + 3n
3n2 15n + 20
n3 + 2.5n2 3.5n
55n 4
22.5n2 + 2.5n
80
390
398
126
38
285
326
105
n3 + 14n2 + 42n + 22
n3 + 8n2 + 39n + 16
994
754
2n3 + 22n2 + 81n + 38
1748
Figure 2.2. Graphic illustration of computational wastes

N(n) = N + N+ from tables 2.2 and 2.3
Estimation of computational complexity of the computer-aided algorithms

Estimations of computational complexity of the algorithms are given in tables
2.2-2.7. Table 2.2 presents estimations of the computational complexity of an
algorithm for constructing the equations of motion, which realized on the basis
of use of O(n3 )-operation algorithm (2.30) for constructing the matrix A(q)
66
Chapter 2
TABLE 2.3.
A(q)q + b(q, q ) = SH
N (n)
N+ (n)
N (6)
N+ (6)
S, (1.42)
A(q), (2.34)
d
b(q, dt
q), (2.36)
SH, (2.29)
5n2 21n + 26
3n2 + 76n 80
67n 4
3n2 + 3n
3n2 15n + 20
2.5n2 + 55.5n 79
55n 4
2.5n2 + 2.5n
80
484
398
126
38
464
326
105
11n2 + 125n 58
8n2 + 118n 63
1098
933
N + N+
19n2 + 243n 121
2031
and O(n)-operation algorithm (2.30) for constructing the vector b(q, q ).

On Fig. 2.2 we present a graphic illustration of the computational wastes,
which result from the use of the algorithms for constructing equations of
motion displayed in Tables 2.2 and 2.3.
In Table 2.3 there are estimations of the computational complexity of constructing the equations of motion, in the cases of using O(n2 ) -operation
algorithm (2.34) for constructing the matrix A(q) and linear in n algorithm
(2.35) for constructing the vector b(q, q ).
Tables 2.4 and 2.5 present estimations of computational complexity of constructing the equations of motion for a given system of bodies in the Cauchy
form, in the case of using the Gauss method with respect to the cases of
algorithms (2.30) and (2.34), respectively.
2.5. Determination of preplanned control with the help of forward

and backward sweep methods
Usually the study of motion and organization of control of a system of rigid
bodies is preceded by the determination of the preplanned control, programmed
wrenches of reaction in the kinematical pairs that is realized with use of the
given reference motion q , its velocity q and acceleration q . The preplanned
control can be determined from equations (2.17)
u = A(q )q + b(q , q ) S(H + T ) n
(2.38)
67
TABLE 2.4.
Gauss
PP
N (n)
N+ (n)
N (6)
N+ (6)
n3 + 14n2 + 42n + 22
1 3
n + 32 n2 + 16 n
3
n3 + 8n2 + 39n + 16
1 3
n + 32 n2 + 16 n
3
994
127
754
127
1121
881
4 3
n
3
31 2
n
2
TABLE 2.5.
Gauss
PP
N + N+
253
n
6
8 3
n
3
N + N+
q = A1 (q)(SH b(q, q )) (Gauss method)
+ 22
4 3
n
3
19 2
n
2
235
n
6
+ 16
+ 25n2 + 81.33n + 38
2002
q = A1 (q)(SH b(q, q )) (Gauss method)
N (n)
N+ (n)
N (6)
N+ (6)
11n2 + 125n 58
1 3
n + 32 n2 + 16 n
3
8n2 + 118n 63
1 3
n + 32 n2 + 16 n
3
1098
127
993
127
1215
1060
1 3
n
3
25 2
n
2
751
n
6
2 3
n
3
58
1 3
n
3
19 2
n
2
+ 22n2 + 243.33n 121
709
n
6
63
2275
but to this end, a preliminary construction of all vector and matrices which
composed (2.38) must be done. Hence there will be preliminary calculation
expenditures as these shown in Tables 2.2 and 2.3. Let us remark also that
preplanned wrenches of reaction in the kinematical pairs are not defined by
(2.38).
In this section, we present the results from development of eective (in the
computational respect) algorithms for determination of the all necessary preplanned forces without using equations of motion in the (2.38)-form. There
are two such algorithms (Juravlev et al. 1993):
68
Chapter 2
the first algorithm is based on the so called forward sweep method for calculating preplanned quasi-velocities and quasi-accelerations of the bodies
from the system;
the second one is based on the backward sweep method for calculating
preplanned control and wrenches of reaction in kinematical pairs.
Let us now expound the algorithm based on the forward sweep on the backward sweep method of computing the preplanned quasi-velocities and quasiaccelerations of the bodies from the system.
the main kinematical equality of the system of bodies have the (1.28)kind form, where again (1.31) is taken into account;
qlk , qlk. , qlk.. be given reference motions, velocities, and accelerations for
the kinematical pairs of the system.
Then
the recurrent algorithm of forward sweep method of computing preplanned quasi-velocities of bodies of the system has following form
10,lk
Vlk
10,11
V11
10;,k1
lkk
= L,k1,T
V,k1
+ Mlk
kf lk kqlk.
lk
(2.39)
11k
M11
kf 11 kq11.
=
the recurrent algorithm of the forward sweep method for computing preplanned quasi-accelerations of the system of bodies has the following form
10,lk.
Vlk
10,1.
V11
10;,k1
10;,k1.
= ,k1;lk,T
L,k1,T
V,k1
+ L,k1,T
V,k1
+
lk
lk
lk
lkk.
lkk
Mlk
kf lk kqlk. + Mlk
kf lk kqlk..
11k
11k.
= M11
kf 11 kq11.. + M11
kf 11 kq11.
(2.40)
To prove this statement is enough to written down equality (1.28) in recurrent

form and dierentiate it taking in account equality (1.22).
Let us carry out an estimation of the computational capacity of algorithms
(2.39) and (2.40) for kinematical chains with rotating kinematic pairs of fifth
order, in the case of constructive parallel translation along one of the coordinates.
N (n) = 38n, N (6) = 228, N+ (n) = 24n, N+ (6) = 144
(2.41)
Let us now expound the algorithm based on the backward sweep method
of computing control and wrenches of reactions in kinematical pairs of the
system.
there be no interactions between elements of the system of bodies with
the bodies of the external medium;
69
equations of motion for each body of the system have the (2.13)-kind
form
10,lk.
lk 10,lk
lk
lk
lk
Alk
+ Blk
Vlk
= Zlk
+ Hlk
+ Tlk
lk Vlk
X
i,k+1
lk
lk
Zlk
= Zlk
(, k 1; lk)
Llk
i,k+1 Zi,k+1 (lk; i, k + 1)
i
where the (2.9)-kind form is used for forming Z with corresponding indices;
i,k+1
Ri,k+1
(lk; i, k + 1) = 0 if lk-th body turns out to be a leaf (last body of
some branch) (this can be considered as a corollary from the first proposal).
Then the recurrent algorithm for computing preplanned wrenches of reactions
and control forces in kinematical pairs can be written as
lk
lk
lk
Rlk
(, k 1; lk) + Nlk
(, k 1; lk) + Ulk
(, k 1; lk) =
X
10,lk
i,k+1
lk 10,lk.
lk
lk
Alk Vlk + Blk Vlk +
Li,k+1 (Ri,k+1 (lk; i, k + 1) +
i,k+1
Ni,k+1
(lk; i, k
+ 1) +
i
i,k+1
Ui,k+1 (lk; i, k
lk
lk
+ 1)) Hlk
Tlk
(2.42)
lk
with using the fact that non-trivial coordinates from the wrenches Nlk
(, k
lk
1; lk) + Ulk (, k 1; lk) stand at the positions of the zeros in wrenches of the
lk
reaction Rlk
(, k 1; lk) and vice versa.
The estimation of computational expenditures of algorithm (2.42) is linear in

n
N (n) = 26n, N (6) = 156, N+ (n) = 20n, N+ (6) = 120
(2.43)
After summation of (2.41) and (2.43) we obtain the total estimation for the
forward and backwad sweep methods
N (n) = 64n, N (6) = 384, N+ (n) = 44n, N+ (6) = 264
2.6. Algorithm for constructing equations of motion based on forward and backward sweep methods
In this final section we shall demonstrate another algorithm for constructing
the equations of motion for a system of rigid bodies. Although it is more
eective that the other ones, unfortunately it is valid only for the case of
no mechanical contact of bodies of the system with bodies from the external
medium. This is due to the fact that it is based on using forward and backward
sweep methods, the latter being valid only under the above condition.
70
Chapter 2

bodies from the system have no mechanical contact with bodies from the
external medium;
Ro (, k 1; lk), Uo (, k 1; lk), No (, k 1; lk) be the columns of the
wrenches of action of (, k 1)-th body to lk-th body determined for q =
0 (q is the generalized acceleration of the system), with corresponding
meaning indicated by Ro , Uo and No (reaction, control and friction);
the algorithm of forward sweep method for determination of quasi-velocities and quasi-accelerations in the case of q = 0 be presented as
10,lk
Vlko
10,lk.
Vlko
10;,k1
lkk
= L,k1,T
V,k1o
+ Mlko
kf lk kqolk.
lko
,k1;lk,T ,k1,T 10;,k1
= lko
Llko
V,k1o +
10;,k1.
lkk.
L,k1,T
V,k1o
+ Mlko
kf lk kqolk.
lko
10,11.
11k.
V11o
= M11o
kf 11 kqo11.
lk
lk
lk
for calculating the wrenches Rlko
(, k 1; lk), Ulko
(, k 1; lk), Nlko
(,
k 1; lk) there be the following algorithm of backward sweep method
lk
lk
lk
(, k 1; lk) + Nlko
(, k 1; lk) + Ulko
(, k 1; lk) =
Rlko
X
10,lk.
i,k+1
lk
lk 10,lk
lk
Alko Vlko + Blk Vlko +
Li,k+1o (Ri,k+1o (lk; i, k + 1) +
i
i,k+1
Ui,k+1o (lk; i, k
i,k+1
Ni,k+1o
(lk; i, k
lk
lk
+ 1) +
+ 1)) Hlk
Tlk
(2.44)
Then the equations of motion for the system of bodies having no relation with
bodies from the external medium can be presented as
A(q)q + d(q, q ) = u + n
(2.45)
where the vector d(q, q ) is determined by the relation

(2.46)
d(q, q ) = F T MT Zo (, k 1; lk)
Z(, k 1; lk) = Ro (, k 1; lk) + Uo (, k 1; lk) + No (, k 1; lk)
Proof Multiplying system (2.13), written down in the matrix form, from
the left-hand side with MT L (it comes from the right-hand side of the matrix
S = F T MT Z) and using (1.41) we obtain
MT LALT MFq
+ MT Lb(q, q ) =
MT L(H + T ) + MT L(R + U + N )
(2.47)
Moreover, zeros in the reaction columns MT LU and the friction ones MT LN

correspond to the non-zero coordinates of the control columns MT LR which
present reactions in the kinematical pairs, and vice versa. It is the relation
that is used to eliminate reactions in the kinematical pairs and to separate
control and friction forces, by means of multiplication from the left with the
matrix F T of the mobility axes.
71
Formally we may determine such forces Ro of reaction, Uo of control and No

of friction for the kinematical pairs that the generalized acceleration q of the
system will be zero. For these forces we obtain, due to (2.47), that the column
Fo must satisfy
MT Lb(q, q ) = MT L(H + T ) + F o
(2.48)
where
Fo
= MT L(Ro +U o +N o ) = MT [Ro (, k 1; lk) +

Uo (, k 1; lk) + No (, k 1; lk)]
Calculation of Ro (, k 1; lk), Uo (, k 1; lk) and No (, k 1; lk) is doing

by the algorithms of forward and backward sweep methods for q = 0 (see
(2.44)).
Subtracting equality (2.48) from (2.47), we obtain the following equality
MT LALT MF q = MT L(R + U + N ) F o
Multiplying this equality from the left with F T , we cut out from this system
the equations for which F T MT LR = 0 and also these for which u + n =
F T MT L(U + N ). This completes the proof.2
Example: Double pendulum with sliding hanger (Fig. 1.4)
Due to the notations adopted in (2.45) and the above results concerning this
part of the system
1,T
f2
d1
d2
d(q, q ) =
=
0
d3
0
11
V101
V303
V101.
V303.
=
=
=
=
0
f52,T
0
0
0
f63,T
Z11 (0, 1)
Z22 (1, 2)
Z33 (2, 3)
0
T
02
1.
2
T
(0, o1.
2 , 0, 0) , V2 = (0, o2 , 0, 0, 5 ,0)
3 1. 3
3 2.
3 2.
3 2. 3. T
(o1.
2 s6 , o2 c6 , p1 5 , s6 5 , c6 5 , 6 )
02.
V2 = 0 for q = 0
3.
3 1. 3.
3 2. 3.
3 2. 3.
T
(c63 o1.
2 6 , s6 o2 6 , 0, c6 5 6 , s6 5 6 , 0)
According to (2.44) we obtain

Z33 (2, 3)
Z22 (1, 2)
F22
Z11 (0, 1)
=
=
=
=
3 03
3
3
3
3
33 V303. + 03
3 3 V3 F3 , F3 = H3 + T3
2 02
2 3
2
22 V202. + 02
2 2 V2 + L3 Z3 (2, 3) F2
2
2
H2 + T2
L12 Z22 (1, 2) F11 , F11 = P11 + T11 , V101. = 0
(2.49)
72
Chapter 2
Calculating
d3 = (52. )2 f63,T F33
(2.50)
we have
3 03
= f63,T Z33 (2, 3) = (0,0, 0, 1)33 V303. + (0,0, 0, 1)03
3 3 V3
d3
3
f63,T F33 = (0, m3 r13 , 0,(I66
+ m3 (r13 )2 ))V303. +
3,T 3
3 1.
3 2.
3 2.
3 03
(c63 o1.
2 , s6 o2 , 0, c6 5 , s6 5 , 0)3 V3 f6 F3 =
3 3 1. 3.
3 1.
3 1.
3 3 2.
m3 r1 s6 o2 6 + (m3 c6 o2 , m3 s6 o2 , m3 r1 s6 5 ,
3
3
03
I44
c63 52. , (I55
+ m3 (r13 )2 )s63 52. , m3 r13 s63 o1.
2 )V3
f63,T F33 = (52. )2 f63,T F33
Computing now
d2 = 252. 63. f52,T F22 f52,T L23 F33
we get
d2
2 02
= f52,T Z22 (1, 2) = f52,T 22 V202. + f52,T 02
2 2 V2 +
f 2,T L23 Z33 (2, 3) f52,T F22 = f52,T L23 Z33 (2, 3) f52,T F22 =
2,T
3 03
2 3
2
f52,T T322 C32 (33 V303. + 03
3 3 V3 ) f5 (L3 F3 F2 ) =
2,T 2 3
3 03
f52,T T322 C32 33 V303. + f52,T T322 C32 03
3 3 V3 f5 L3 F3 =
2,T 2
2,T 2 3
3.
2. 3.
2.
5 6 + 5 6 f5 F2 f5 L3 F3
Let us now determine

d1 = (63. )2 f21,T F11 f21,T L12 F22 f21,T L12 L23 F33
(2.51)
then
d1
= f21,T Z11 (0, 1) = f21,T L12 Z22 (1, 2) f21,T F11 =
1,T 1
2 02
2 3
2
f21,T L12 (22 V202. + 02
2 2 V2 + L3 Z3 (2, 3) F2 ) f5 F1 =
1,T 1 2 3
2 02
f21,T L12 22 V202. + f21,T L12 02
2 2 V2 + f2 L2 L3 Z3 (2, 3)
2 02
f21,T L12 F22 f51,T F11 = f21,T L12 02
2 2 V2 +
1,T 1 3
1,T 1 2
3 03
f21,T L13 (33 V303. + 03
3 3 V3 ) f2 L3 F3 f2 L2 F2
1,T 1 3
1,T 1 2
3 03
f51,T F11 = 0 + 0 + f21,T L13 03
3 3 V3 f2 L3 F3 f2 L2 F2
f51,T F11 = m3 r13 s63 (63. )2 f21,T L13 F33 f21,T L12 F22 f21,T F11 =
(63. )2 f21,T L13 F33 f21,T L12 F22 f21,T F11
73

TABLE 2.6.
N (n)
N+ (n)
N (6)
N+ (6)
5n2 21n + 226

n3 + 6n2 7n
64n
3n2 15n + 20
n3 + 2.5n2 3.5n
44n
80
390
384
38
285
264
n3 + 11n2 + 36n + 26
n3 + 5.5n2 + 25.5n + 20
854
587
S, (1.42)
A(q), (2.30)
d
d(q, dt
q), (2.46)
A(q)q + d(q, q ) = u + n
2n3 + 16.5n2 + 61.5n + 46
N + N+
TABLE 2.7.
1441
A(q)q + d(q, q ) = u + n
N (n)
N+ (n)
N (6)
N+ (6)
S, (1.42)
A(q), (2.34)
d
d(q, dt
q), (2.46)
5n2 21n + 226

3n2 + 76n 80
64n
3n2 15n + 20
2.5n2 + 55.5n 79
44n
80
484
384
38
464
264
8n2 + 119n 54
5.5n2 + 104.5n 59
948
766
N + N+
13.5n2 + 223.5n 113
1714
After summing equalities (2.50)-(2.51), we obtain

(63. )2
d1
d(q, q ) = d2 = 252. 63. S(H + T ) =
d3
(52. )2
b(q, q ) S(H + T )
(2.52)
74
Chapter 2
Substituting with (2.52) in equation (2.49), we have the equations of motion

in the following form
A(q)q + b(q, q ) = S(H + T ) + u + n
This form of the equations was obtained previously in another way (see (2.17)).
In Tables 2.6 and 2.7 there is the estimation of computational expenditures
which are due to using algorithm (2.52) for constructing the matrix A(q)
together with one of algorithms (2.30) or (2.34).
Fig. 2.3 presents diagrammatic comparison of the computational complexity
of the algorithms from Tables 2.6 and 2.7.
Figure 2.3. Graphic illustration of computational wastes

N(n) = N + N+ from tables 2.6 and 2.7
Chapter 3
Analytic transvective forms of dynamic equations

in the Cauchy form
This chapter defines factorization of inertia matrix and its inverse for a multibody system with tree-like structure through the simplest multipliers - transvections that gives possibility to analytical studying and numerical solving
the Cauchy problem for a multibody system having a rather large dimension
with the help of computer algebra methods (Gerdt et al. 1980, Grosheva et
al. 1983, Klimov et al. 1989) and standard algebraic software. In particular,
the inverse resolution is obtained without constructing the inertia matrix itself. It is essential that the properties of aggregative form of representation of
multibody system equations are used here (Konoplev 1989a and 1990). For
multibody systems, the transvective Cauchy form is considered, computer laboriousness of the algorithms obtained being estimated (Konoplev 1992 and
1995). For constructing entries At
k of the inertia matrix A(q) of the multibody system (2.30), (2.34) two algorithms are obtained in Chapter 2. The
first one is
X
At
=
st
App sk,T
, st
= ft,T Ltk
(3.1)
p
p
k
k
p(t,k)+
The second one is

At
k
k
+
k
= st
+
, k (t)+ , At
/ (t)+
k
k = 0, k
X
= Ak+ fk , Ak+ = Akk +
Lkp Ap+ Lk,T
p
p(k)+
where
= (t), = (k)
(, = 1, 6)
75
(3.2)
(3.3)
76
Chapter 3
3.1. Matrix realization of Gauss method

GL(R, n) is the full linear group of automorphisms of Rn (i.e., the
group of invertible n n-dimensional matrices A, det A 6= 0) (Bourbaki
1969, Diedonne 1972, Suprunenko 1972);
SL(R, n) GL(R, n) is the special linear group of automorphisms of
Rn (the group of invertible n n-dimensional matrices A, det A = 1);
Eij is n n-dimensional matrix with a unit at the place (i, j) and zeros
at all other ones;
E is n n identity matrix.
Any a R1 , define matrices
tij (a) = E + aEij SL(R, n), t1
ij (a) = tij (a)
(3.4)
known as transvections (Gantmacher 1964, Suprunenko 1972).

Proposition 3.1 The next assertions hold:
transvections constitute the set of generatrices of the group SL(R, n);
the set of transvections and the set of diagonal ones tj (b), b R1 , b 6=
0, of the kind
tj (b)
1
tj (b)
= E + (b 1)Ejj
(3.5)
Q
= tj (1/b),
tj (bj ) = diag {bj }
(3.6)
constitute the set of generatrices of the group GL(R, n) (Gantmacher
1964, Suprunenko 1972);

multiplying any A GL(R, n) on the transvection tij (a) from the lefthand side leads to multiplying j-row of the matrix A on the number a and
adding with i-row;
multiplying any A GL(R, n) on the transvection tij (a) from the righthand side leads to multiplying i-column of the matrix A on the number a
and adding with j-column;
multiplying any A GL(R, n) on the matrix tj (b) from the left-hand
side leads to multiplying j-row of the matrix A on the number b.
It follows from the above proposition that the generatrices tij (a) and tj (b)
realize elementary transformations of Gauss method and therefore this method
itself with the help of corresponding choice of the numbers a and b.
3.2. Analytic transvective forms of inertia matrix and its inverse

Due to (3.1)(3.3), the attractive feature of aggregative form of inertia matrix
representation is that in the Gauss method arguments of matrices (3.4) and
Analytic transvective forms of dynamic equations in the Cauchy form
77
(3.5) with arbitrary indexes are represented by inner products of the (3.2)kind, the first multiplier not depending on the method pre-history (it is the
same as in (3.2)) while the second one is defined by a recurrence algorithm of
symbolical constructing or computing and takes account this pre-history.
is 6 6-dimensional matrix of the following kind
Ak
k
k
k
Ak
k = Ak + k
where the matrix kk is defined by the recurrence relation

X
p p,T (, )p )Lk,T
Lkp (Ap
kk =
p p p
p
p
(3.7)
p(k)+
( = 1, 6)
kk is -column of the matrix Ak
k
k
kk = Ak
k f
(, )k
is (, )-entry of the matrix Ak
k
k
k,T k
k,T k k
(, )k
k = f k = f Ak f
kk is the column defined by the following relation

kk = kk /(, )k
k
ht, ki is the inner product (being similar to (3.2)) of the kind

ht, ki = st k
k
(3.8)
ttk (ht, ki), t < k, is transvection (3.4) with the argument ht, ki;
T is product of transvections zeroing above-diagonal entries of the matrix A(q) in the Gauss method starting from the last row
Q 1
T =
ttk (ht, ki), t < k
(3.9)
t,k
TT
ttk (ht, ki)T
t,k
T
{t1
tk (ht, ki)} =
= tkt (hk, ti)
t,k
t1
kt (hk, ti), t < k
Proposition 3.2 The following equality holds

Q
tk (, )k
T A(q)T T = diag {(, )k
k }=
k
(3.10)
(3.11)
For example, for two link mechanism with kinematical pairs of the fifth class
2
it follows from (3.1) and the relation A2
2 = A2 that
#
"
2
A2
s21 22
f1,T A11 f1 + s1
2 f
2
A(q) =
s1
22,T
(, )2
2
2
78
Chapter 3
Multiplying the last relation from the left-hand side on

1 2
1 1 2
2 /(, )2
2 )
t1
2 ) = t12 (s2
12 (s2
we get zero at the place (1, 2) and the relation

A1
1
1 2 1 2 T
2
= f1,T A11 f1 + s21 A2
2 (s2 2 ) (, )2
2 f s2
2 =
2 2,T (, )2 }L1,T }f 1,T =

f1,T {A11 + L12 {A2
2 2 2
2
2
f1,T (A11 + 11 )f1 = f1,T 11 = (, )1

1
1 2
at the place (1, 1). Multiplying the matrix t1
2 )A(q) from the right12 (s2
1 1 2
hand side on the transvection t21 (s2 2 ) we have the desired result (3.11)
1
1
2
T A(q)T T = t1
12 A(q)t21 = diag {t1 (, )1 , t2 (, )2 }

k
is (similarly to (3.3)) -column of some 6 6-dimensional matrix
+
k
A+ not being used directly;
k
(, )k
+ is (, )-entry of the matrix A+
k,T k
(, )k
+ = f +
(3.12)
k
is the column defined by the relation
+
k
k
= +
/(, )k
+
+
(3.13)
Proposition 3.3 Let the recurrence algorithm of numerical or symbolical

k
k
constructing of the column +
take the form (for +
from (3.3))
k
+
k
+
k
k
= +
+
X
=
L(k, p)LT (k, p)fk (, )p
+
(3.14)
(3.15)
p(k)+ \(k)
p
p
L(k, p) = Lkp +
= Lkk+1 L(k + 1, p), L(p, p) = +
Then (similarly to (3.11)) there holds the following equality

Q
tk (, )k
T A(q)T T = diag {(, )k
+}=
+
(3.16)
where ht, ki is the inner product of the kind

k
ht, ki = st
,
+
k
st
= ft,T Ltk
k
(3.17)
79
For example, for two link mechanism we have

"
#
1
f1,T +
s1
2
2
2
+
2
A(q) =
,
+
= +
2,T 1,T
+
s2
(, )2
+
1 2
With multiplying the matrix on the transvection t1
+ ) from the left12 (s2
hand side, the above left entry assumes the form
A1
1
1
2 2,T 1,T
= f1,T +
s1
+
+ s2
/(, )2
+ =
2
1
2 2,T 1,T
2 2
f1,T +
f1,T L12 +
+ s2
(, )2
=
+ {(, )+ }
1
2
2 T 1
f1,T {+
L12 +
(L12 +
) f (, )2
+}=
1
f1,T {+
L(1, 2)LT (1, 2)f1 (, )2
+}=
1
1
1
f1,T {+
+
} = f1,T +
= (, )1
+
1 2
It follows from the multiplying of the obtained matrix on t1
+ ) from
21 (s2
the right-hand side that equality (3.16) holds.
For three link mechanism and a tree-like system with n = 5 independently
from the algorithm of constructing transvection arguments, we have (respectively)
1 1
T = t1
12 t13 t23 ,
1
1
1
1
1
T = t1
11,12 t11,13 t12,13 t11,23 t12,23 t11,32
Therefore due to (3.11) and (3.16), we have the following main results, namely:
algorithms of straight analytical or numerical constructing matrices A(q) and
A1 (q).
k
Proposition 3.4 Due to (, )k = (, )k
k = (, )+ , there are the analyt1
ical transvective forms of matrices A(q) and A (q)
1 T
)
A(q) = T 1 diag {(, )k
k }(T
(q) = T
diag {1/(, )k
k }T
(3.18)
(3.19)
Proving these assertions follows from (3.11) and (3.16) with according to (3.9)
(3.10).
Note that together with constructing transvective expansion of the inverse
A1 (q), with the help of algorithm (3.8), here the matrix A(q) is formed as
algorithm (3.2) is the first term of algorithm (3.8) multiplied on (, )k
+.
3.3. Analytical transvective Cauchy form of motion equations for
a tree-like system
One of main applications of the results obtained is the possibility of straight
use of analytical (with the help of computer algebra methods (Aleksandrov
80
Chapter 3
TABLE 3.1.
S, (1.42)
A(q), (3.8)
b(q, q),
(2.36)
SH, (2.29)
SH b(q, q)
=F
q = A(q)F
P
N + N+
q = A1 (q)(SH b(q, q ))
N (n)
N+ (n)
N (6)
N+ (6)
5n2 21n + 26
375n 369
67n 4
3n2 + 3n
3n2 15n + 20
327n 306
55n 4
2.5n2 + 2.5n
6
n2 n
80
1881
398
126
0
72
38
1656
326
105
6
30
6.5n2 + 386.5n 284
2557
2161
2n2
10n2 + 424n 347
16.5n2 + 810.5n 631
4718
1980, Arais et al. 1987, Bahman 1969) or numerical (with the help of standard
software) constructing equations (2.17) in the Cauchy form: q = F - without
defining the matrix A(q) and its inverse.
Proposition 3.5 The analytical transvective Cauchy form of motion equations for a multibody system with tree-like structure is
q = T T diag {1/(, )k }T F, F = Q b(q, q )
(3.20)
For example, for the multibody system under consideration there is
1
0 0
1/h2, 2i
0
0
0
1 0
0
1/h5, 5i
0
q =
()/h6, 6i 0 1
0
0
1/h6, 6i
1 0 ()/h6, 6i
0 1
F
0
0 0
1
3.4. Computer complexity of the algorithms
Computer complexity of analytical expressions for constructing matrix entries
is defined by the quality of computer algebra software used for this aim. Its
81
q = A1 (q)(SH b(q, q ))
TABLE 3.2.
S, (1.42)
A(q), (3.8)
b(q, q),
(2.36)
SH, (2.29)
SH b(q, q)
=F
q = A(q)F
P
N + N+
N (n)
N+ (n)
N (6)
N+ (6)
5n2 21n + 26
11n2 + 74n 86
67n 4
3n2 + 3n
3n2 15n + 20
8.5n2 + 669.5n 79
55n 4
2.5n2 + 2.5n
6
n2 n
80
754
398
126
0
72
38
644
326
105
6
30
15n2 + 111n 57
1430
1149
2n2
21n2 + 123n 64
36n2 + 234n 121
2579
a priori estimation is principally impossible. However with sprightly using

the algorithms in problems of numerical modeling of systems, due to their
algebraic form we may produce necessary estimations that can be useful for
choosing algorithms of studying system motion of actual dimension.
Estimations of complexity of algorithms (3.19) (with according to (3.8) and
(3.9)) are given in Tables 3.1 and 3.2.
All estimate of computer complexity are quadratic in n, but the second ones
dier from the first ones with large coecients before n2 and with smaller
coecients before n. It can be explained by presence of one-step recurrence
subalgorithm of constructing the matrix Ak
k in algorithm (3.7) and of multik
step one of constructing the column +
in algorithm (3.15). Operations in
algorithm (3.12)(3.17) for constructing transvective form of A1 (q) being
additive with respect to ones in algorithm (3.2)(3.3) for constructing A(q)
has the following estimation of computer complexity
N (n)/N+ (n) = 8n2 2n 6/6n2 6n, N (6)/N+ (6) = 270/180
k
It includes n(n 1)/2 (16/6) computations of corrections +
, (3.15) to
k
k
columns + in (3.3), n(n 1)/2 (0/6) computations of columns +
in
k
(3.14), and (n 1) (6/0) computations of columns + in (3.13).
These computations are the cost for opportunity to construct the motion
equations (2.17) at once in the Cauchy form.
In order to compute the vector q in (3.20) it is necessary to multiply n2
82
Chapter 3
simplest multipliers in expansion (3.19) on the vector F without obtaining

the matrix A1 (q), (O(n3 )-procedure).
The general estimate of complexity of computing the vector q in (3.20) is
given in Tables 3.1 and 3.2.
Figure 3.1. Representation of data N(n) = N + N+

from Tabl. 3.1 and 3.2

Figures 3.13.4 give comparative estimates of computer complexity of dierent

algorithms of constructing motion equations for multibody systems and the
total one as well.

Figure 3.4. Representation of data N(n) = N + N+ from all tables
83
84
Chapter 4
Dierential equations of constraints of multibody

systems with the external medium bodies
4.1. State of the art

Motion of the most number of multibody systems with tree-like structure is
restricted by holonomic and non-holonomic constraints in addition to that
acting in kinematical pairs and being taken in account when equations (2.17)
were derived. The standard form of dierential equations of motion in redundant generalized coordinates and time-invariant and time-varying constraints
being holonomic and non-holonomic (linear with respect to generalized velocities) are given by the following relation (Neimark et al. 1967)
A(q)q .. + b(q, q ) + Cq = Q + D
f (q, t) = 0, K(q)q + N (q, t) = 0
D = (df /dq T )T , KT (q)
(4.1)
(4.2)
(4.3)
where is the vector of Lagrange multipliers; f (q, t), K(q) and N (q, t) are
known matrix functions. In this case dierential equations of (time-invariant
and time-varying) holonomic and non-holonomic constraints assume the forms,
respectively,
DT q = 0, DT q = M(q, )
(4.4)
where is a parameter (time, length of path and so on).

If the number of freedom degrees and constraints is great then constructing
equations (4.2) and symbolical determining the matrix D and the column
M(q, ) are a separate laborious task. E.g., for 25-link 6-degree test bench
with 48 redundant generalized coordinates it is necessary to derive 42 scalar
equations of constraints with 48 non-known variables and to construct 39
analytical relations for partial derivatives (for one support) and later on to
calculate 234 derivatives for 6 supports (Konoplev et al. 1989).
85
86
Chapter 4
The motion of many multibody systems being models of multi-link technical

plants is restricted by constraints of the special kind that is technically realized
with the help of various joints between bodies of systems and ones of the
external medium as well as by means of bodies rolling without sliding and
skidding over bodies of the external medium.
It is found that if equations (4.1) are written in the (2.17)-form
A(q)q + b(q, q )q + Cq = S(H + T + W) + u + n + QR
(4.5)
where
QR = D , = col {k }
(4.6)
(in the above particular case QR is the vector of generalized reactions of bodies
of the external medium on the system bodies). Then the dierential equation
of constraints of the (4.4)-kind
DT q = 0, DT q = F(q, )
(4.7)
can be formed straightly with the help of the parastrophic matrix S of the
system that was constructed at the step of deriving motion equations (4.5),
the laborious step of deriving the constraint equations (4.2) and matrix (4.3)
being bypassed.
Note that in this case D = D , but D 6= D and 6= in general. The
order of deriving constraint equations and motion ones (4.5)-(4.7) is reverse
with respect to the order of similar deriving in the classical case of (4.1)-(4.4).
In the latter, first geometrical and non-holonomic constraint equations (4.2)
are formed, and with varying the obtained geometrical constraints we derive
dierential equations of holonomic constraints (the matrix D - see (4.3)).
Then with the help of this matrix we get equations (4.1). In this book the
actions pointed out are made in the reverse order: first equations (4.5) (and
the matrix (4.6), too) are constructed, and after that the constraint equations
(4.7) are written (Konoplev 1989b and 1992).
This provides the great computational economy of the algorithm: in general, the both operations demand practically no computational expenditure.
Moreover in many particular cases the expenditures are entirely excluded. In
equations (4.5), W is the vector of wrenches of actions that bodies of the external medium have over the system bodies under the condition that they do
not decrease the number of freedom degrees (sliding, skidding, deformation of
bodies of the external medium, etc.).
4.2. Kinematics of pairs the system bodies the external medium

ones
In kinematical pairs a body of the external medium - a system body, kinematical relations are the defining ones for forming dierential equations of
Dierential equations of constraints of multibody systems
87
relations of the system bodies with bodies of the external medium (Fig. 4.1
and 4.2).
Figure 4.1. Scheme of forming a srew of reactions in the case of immobile base
Figure 4.2. Scheme of forming a srew of reactions in the case of mobile base

k is the index of k-th body of the system having mechanical contact with
kc-th body of the external medium, Ek = (Okc , ekc ), Ekc = (Okc , ekc )
is corresponding frames attached to them (Fig. 4.2);
Eko = (Oko , eko ) is the frame attached to kc-th body with the origin
Oko coinciding with the point of contact between k-th and kc-th bodies.
The point Oko can move with respect to Ekc due to rolling and sliding
88
Chapter 4
of k-th body over the surface of kc-th body and the deformation of kc-th
body under the action of k-th body. The basis eko is chosen in such way
that it is convenient to write the conditions determining constraints on
k-th body;
Okoo is the point of k-th body that coincides instantly with the point
oo.
Oko , Okoo Oko , but ooo.
koo 6= oko ;
ko,ko
ko
ko
ko
koo
= col {okoo , koo
} col {oko,ko
, k } is the
Rkoo
koo , k } col {o
functional configuration of the kinematical pair (ko, koo) (see (1.27)),
koo koo
okoo = col {okoo
1 , o2 , o3 } is the coordinate column for the radius vecko
tor okoo of the point Okoo of r-th link of the system in Eko = (Oko , eko )
and the basis eko , k = col {4k , 5k , 6k } is the column of angles of orientation of the basis ek ekoo in the basis eko ;
kc,kc
is 6 6-dimensional matrix of translation of the linear space of
Tko
: Ekc Eko
binary vectors that is induced by the translation of okc,kc
ko
(see (1.14));
ko
k is the matrix of 6-dimensional unit vectors fko , = 1, 6, of the
kf+
axes (see (1.31)) along which the motion of the kinematical pair (ko, koo)
is permitted by constraints (the indexes coincides with thee ones of nonko
null coordinates in the derivative of the configuration Rkoo
of the pair (see
ko,ko
ko,ko
ko.
ko
ko
(1.27)) Rkoo = col {okoo , koo } col {okoo , k ) col {okoo. , k. }
ko,ko
, k. };
col {vkoo
ko,T
ko,T.
koo
ko
ko
= kf+
kRkoo
, q koo. = kf+
kRkoo
are the generalized coordinates
q
and velocities of the kinematical pair (ko, koo);
Eko1 = (Oko1 , eko1 ) is the frame defined in result of infinitesimal transferring the frame Eko due to rolling of k-th body over the surface of kc-th
ko,ko
ko,ko.
body of the external medium (oko,ko
ko1k is the position vector, vko1k = oko1k
ko,ko
ko,ko
ko,ko
is the velocity vector, vko1k vkok for oko1k 0), sliding of k-th body
ko,ko
ko,ko.
over the surface of kc-th body (oko,ko
ko1+ is the position vector, vko1+ = oko1+
ko,ko
ko,ko
ko,ko
is the velocity vector, vko1+ vko+ for oko1k 0) and the deformation
of kc-th body in a neighborhood of the point Oko under the action of k-th
ko,ko
ko,ko.
body (oko,ko
ko1 is the position vector, vko1 = oko1 is the velocity vector,
ko,ko
ko,ko
vko1
vko
for oko,ko
ko1k 0).
the translation oko
koo : Eko Ekoo of the origin Okoo of Ekoo with respect
to Eko is the result of infinitesimal transferring the point Okoo of k-th
body with respect to Eko (attached to kc-th body) due to its rolling over
ko,ko
ko,ko.
the surface of kc-th body (oko,ko
kook is the position vector, vkook = okook
ko,ko
is the velocity vector) and skidding of k-th body (okoo+ is the position
ko,ko
vector, vkoo+
= oko,ko.
koo+ is the velocity vector);
k1
0
0
ko
0
0 1
ck ckoo = c0kc ()ckc
is the matrix of oriko ()ckoo , ck = c1 c2 . . . ck
entation of k-th body in E0 defined in result of integrating equations of
motion the system, the matrices c0kc () and ckc
ko () being either given or
defined with solving the problem;
89
koo
koo
koo
koo
the matrix cko
in eko
koo = c1 (4 )c2 (5 )c3 (6 ) of orientation of e
is calculated with the help of the matrices from the preceding hypothesis
kc,T
0,T
0
cko
koo = cko ()ckc ()ck
ko
Mkoo
is the matrix of transformation of the generalized velocities q koo.
ko,koo
of the kinematical pair (ko, koo) into the vector of quasi-velocities Vkoo
of this pair (see (1.31)).
Proposition 4.1 The following assertions hold:

0,koo
the vector Vkoo
of quasi-velocities of Ekoo with respect to the frame
E0 is given by the relation
0,koo
ko,T 0,ko
ko,koo
= Ckoo
Vko () + Vkoo
Vkoo
ko
ko
ko
where Ckoo = diag{ckoo , ckoo };
(4.8)
0,ko
the vector Vko
() of quasi-velocities Eko with respect to the basic frame
E0 in (4.8) is calculated by the relation
0,ko
0,kc
kc,ko
Vko
() = Lkc,T
()
ko ()Vkc () + Vko
kc,ko
()
Vko
(4.9)
kc,ko
, wko
()}
= col {0
(4.10)
ko,koo
of quasi-velocities Ekoo with respect to the frame Eko
the vector Vkoo
in (4.8) is computed by the relation
ko,koo
Vkoo
ko,koo
vkoo
ko,koo
ko,koo
ko
ko koo.
= col {vkoo
, wkoo
} = Mkoo
kf+
kq
(4.11)
(4.12)
ko,ko
cko,T
koo vkoo
ko,ko
cko,T
koo (vko+
ko,ko
vko
ko,ko
vkoo+
)
Proof In fact we must proof only relation (4.12) and that (4.10) contains
zero. Relations (4.8) and (4.9) follow from (1.28) while relation (4.11) follows
from (1.31). Relation (4.12) is practically obvious. The present of zero in
(4.10) is explained by the fact that the point Oko is the instant center of
velocities of k-th body in Eko .
Taking in account that results (4.8)-(4.12) are of importance, let us give their
complete proof.
0,koo
0,koo
k,koo
Compute the vector Vkoo
= col {vkoo
, wkoo
} of quasi-velocities of Ekoo
with respect to the basic frame E0 with using the kinematical chain E0 , Ekc ,
Eko , Eko1 and Ekoo . To this end let us close the vector polygon o0 , okc , oko ,
oko1 , okoo in E0 and e0
kc,0
ko,0
ko1,0
00
o00
koo = okc + oko + oko1 + okoo
(4.13)
where the summands of the right-hand side mean the radius-vectors consecutively of the origin of Ekc in E0 , of the origin of Eko in Ekc , of the origin of
Eko1 in Eko and of the origin of Ekoo in Eko1 that are computed in the basis
e0 such that the vector okc
ko is constant here, its change is taken in account by
ko
means of the vector oko
ko1 having the property oko1 0.
90
Chapter 4
As above mentioned, the translation oko

ko1 : Eko Eko1 is produced in the
result of rolling of k-th body over the surface of kc-th of the medium (the
vector oko,ko
ko1k ), of sliding of k-th body over the surface of kc-th of the medium
(the vector oko,ko
ko1+ ) and the deformation of kc-th body in a neighborhood of
the point Oko under the action of k-th body (the vector oko,ko
ko1 ).
Therefore
ko,ko
ko,ko
ko,ko
oko,ko
ko1 = oko1k + oko1+ + oko1
(4.14)
In the right-hand side of (4.13) the later translation oko1

koo : Eko1 Ekoo is
produced by the infinitesimal translation of the point Okoo of k-th body with
respect to the frame E ko1 attached to kc-th body due to its rolling over the
surface of kc-th body (the vector oko1,ko1
) and skidding of k-th body (the
kook
ko1,ko1
vector okoo+ ). Thus
oko1,ko1
= oko1,ko1
+ oko1,ko1
koo
kook
koo+
(4.15)
Using the resolution of the last three summands of relation (4.13) in the bases
of immobile frames, we have
ko1,ko1
00
0 kc,kc
0
+ c0ko oko,ko
o00
koo = okc + ckc oko
ko1 + cko1 okoo
(4.16)
The derivatives of the both sides of relation (4.16) give the relation between
absolute and relative angular velocities and translation velocities of all moving
frames
00
vkoo
kc,kc
ko,ko
ko1,ko1
0,kc kc,kc
00
= vkc
+ c0kc vko
+ c0ko vko1
+ c0ko1 vkoo
+ c0kc w
kc
oko +
0,kc ko,ko
0,ko1 ko1,ko1
ko
oko1 + c0ko1 w
ko1
okoo
c0ko w
(4.17)
where the second equation (1.18) is used with the corresponding indexes (see
notation (1.9)).
ko,ko
ko1,ko1
and vkoo
in (4.17), taking in account relations (4.14)
For the vectors vko1
and (4.15), we get
ko,ko
vko1
ko1,ko1
vkoo
ko,ko
ko,ko
ko,ko
= vko1k
+ vko1+
+ vko1
ko1,ko1
vkook
kook,kook
cko1
kook vkoo+
(4.18)
+
ko1,kook kook,kook
cko1
kook
okoo+
kook w
(4.19)
00
of the point Okoo of
In order to compute instant values of the velocity vkoo
k-th body for okoo oko , let us substitute (4.18) and (4.19) in (4.17) and
0 and oko1,ko1
0 with taking in
produce the limit passing for oko,ko
ko1
koo
kc,kc
account that vko = 0. Then
00
vkoo
0,kc kc,kc
ko,ko
ko,ko
ko,ko
00
= vkc
+ c0kc w
kc
oko + c0ko vko1k
+ c0ko vko1+
+ c0ko vko1
+
ko,ko
ko,ko
c0ko vkook
+ c0ko vkoo+
(4.20)
91
In the case where k-th body roles over the surface of kc-th body the point
ko,ko
ko,ko1
Okoo Oko is the instant center of velocities (vko1k
= vkook
). That is why
koo
with passing in (4.20) to the basis e , finally we have
0,koo
ko,T ko,ko
00
vkoo
() = c0,T
k vko () + ckoo vkoo
00
()
vko
ko,ko
vkoo ()
=
=
(4.21)
0,kc
0,kc
c0kc ()(vkc
() + w
kc
()okc,kc
ko ())
ko,ko
ko,ko
ko,ko0
vko1+ () + vko1 () + vkoo+ ()
(4.22)
(4.23)
0,koo
For the vector of angular quasi-velocities wkoo
= wk0,k in (4.13) due to the
theorem about summing angular velocities there is the relation
0,koo
0,kc
ko,T
kc,ko
ko,koo
0
wkoo
() = c0,T
() + wkoo
k ckc ()wkc () + ckoo ()wk
(4.24)
Gathering the obtained results (4.21)-(4.24), we get the desired relations (4.8)(4.10) and (4.12) due to the fact that in relation (4.22) there is
0,kc
0,kc
w
kc
()okc,kc
okc,kc
ko () =
ko ()wkc ()
4.3. Dierential equations of time-invariant constraints

ko
kf
k is the matrix of 6-dimensional unit vectors fko , = 1, 6, of the
axes along which the motion of the kinematical pair (ko, koo) is forbidden
by constraints (the indexes coincides with the ones of non-null coordiko
ko.
nates in the derivative of the configuration Rkoo
of the pair: Rkoo
=
ko,ko
ko,ko
ko,ko
ko
ko
koo.
k.
col {okoo , koo } col {okoo , k } col {o
, } col {vkoo
,
ko,ko
k.
}); vkoo is the coordinate vector of the velocity of the point Okoo
of r-th link of the system with respect to Eko = (Oko , eko ) in the basis
eko ;
Rkk (kc, k) is the wrench of reactions acting on k-th body by kc-th body
k
at the point Oko that is reduced to the origin of Ek , Rkoo
(kc, k) is the
same wrench reduced to the origin of Ekoo ;
k = col {k } is the vector of generalized forces of reactions acting on kth body by kc-th body at the point Oko that are related to the generalized
coordinates q koo of the kinematical pair (ko, koo), where the indexes
ko
coincides with the unit vectors in the matrix kf
k;
ko
Mkoo is the matrix of transform of the generalized velocities q koo. of the
ko,koo
kinematical pair (ko, koo) in that of the velocities Vkoo
of this pair (see
(1.31)).
Let us start with proving an auxiliary assertion.
92
Chapter 4
k
Proposition 4.2 The wrench Rkoo
(kc, k) and the generalized reaction forces
k
are connected by the relation
ko,T 1
k
ko
(kc, k) = (Mkoo
) kf
kk
Rkoo
(4.25)
k
koo
Proof Let us set the work of Rkoo
(kc, k) Rkoo
(kc, koo) on the movement
ko,koo
koo
koo.
such that
= Vkoo
, being equal to the work of the generalk,T
ko
kk on the movements q koo : Rkoo
(kc, k) koo =
ized reactions Qkoo = kf
T
ko
koo
Qkoo kf+ kq . Then taking in account (4.11) we have the desired relation.
2
Proposition 4.3 Let

SR be the matrix constituted from the columns of the parastrophic matrix S (see (1.42)) of the system the bodies of which have the indexes
corresponding the ones of system bodies that are in contact with bodies of
the external medium;
kk
Tkoo
: Ek Ekoo be the matrix of translation in the linear space of
binary vectors (see (1.14)).
Then
algorithm of constructing the generalized reactions of time-invariant
holonomic and non-holonomic constraints QR in (4.5) has the following
form (Fig. 4.1)
QR
= SR R = D , D = SR diag {Dk }
Dk =
where =
(4.26)
ko,T 1
kk
ko
Tkoo
(Mkoo
) kf
k
k
k
col { }, = col {k }
dierential equations of time-invariant holonomic and non-holonomic

constraints of the system bodies with bodies of the external medium are
given in the form
DT q = 0
(4.27)
Proof Let us reduce the wrench Rkk (kc, k) of reactions from kc-th body on
k-th body in Ek to the origin of Eko = (Oko , eko ), Oko Okoo
kk k
Rkk (kc, k) = Tkoo
Rkoo (kc, k)
(4.28)
As the relation QR = SR R is obvious, substituting expressions (4.28) and

(4.25) for all indexes k in it and taking in account the above notations, we
have the desired result (4.26). 2
Let us prove that relation (4.27) holds. Due to the relation Oko Okoo the
velocity of translation of this point with respect to the inertial frame E0 =
(O0 , e0 ) can be computed with using the kinematical chain E0 , E1 , E2 , Ek , . . .
and Ekoo (through the multibody system).
93
Using the left-hand side of the to-be-proved relation (4.28) and the kinematical
equations (1.41) of the system, we get
T
DT q = diag {DkT }SR
q = diag {DkT }col {Vk0k } = col {DkT Vk0k }
(4.29)
where col {Vk0k } is the vector constituted from the vectors of quasi-velocities
Vk0k of k-th bodies being in contact with kc-th bodies of the external medium.
For a fixed index k, consider the column DkT Vk0k
DkT Vk0k
ko T
ko 1 kk,T
= kf
k (Mkoo
) Tkoo col {vk0k , wk0k } =
ko T
ko 1
0k
0k
k (Mkoo
) col {vk0k pkk
kf
koo wk , wk } =
ko T
ko 1
0k
kf
k (Mkoo
) col {vk0k + w
k0,k pkk
koo , wk } =
0,k
ko T
ko 1
kf
k (Mkoo
) col {vkoo
, wk0,k }
0,koo
0,koo
ko T
ko 1
kf
k (Mkoo
) col {vkoo
, wkoo
}
ko T
ko 1 0,koo
kf
k (Mkoo
) Vkoo
(4.30)
0,ko
0,kc
() = 0 due to Vkc
() = 0 and
For the time-invariant constraints Vko
kc,ko
wko () = 0 (see (4.9), (4.10)). That is why relation (4.8) assumes the form
0,koo
ko,koo
Vkoo
= Vkoo
(4.31)
The last means that for the time-invariant constraints the vectors of quasivelocities of Ekoo with respect to the basic frame E0 and the frame Eko are
the same.
Substituting (4.31) and (4.30) and taking in account (4.11) we have the desired
result
DkT Vk0k
ko T
ko 1 0,koo
ko T
ko 1 ko,koo
= kf
k (Mkoo
) Vkoo = kf
k (Mkoo
) Vkoo
=
ko T
ko 1
ko
ko koo.
ko T
ko koo.
k (Mkoo
) Mkoo
kf+
kq
= kf
k kf+
kq
=0
kf
ko T
ko
k kf+
k = 0 is the null (vdim k ) (vdim q koo. )-dimensional matrix.
as kf
2
To form the basis eko it is advisable to follow the next reasons. In the capacity
of the unit vector of eko
1 it is convenient to take the normal to the surface of
kc-th body of the external medium at the point Oko . If x1 = (x2 , x3 ) is the
surface equation for kc-th body at Oko then
2
2 1/2
eko
1 = col {1, /x2 , /x3 }[1 + (/x2 ) + (/x3 ) ]
(4.32)
ko
and {eko
2 , Oko , e3 } defines the plane of position horizon at the point Oko . In
ko
general, the choice of the unit vectors eko
2 and e3 is arbitrary. If the point
ko
Oko is a cylinder joint then e3 is the unit vector of its axis of rotation. If
the point Oko is the one of contact where k-th body is rolling over the surface
94
Chapter 4
x1 = (x2 , x3 ) of kc-th bodies then eko is the natural trihedron (with the
ko
ko
ko
normal eko
is chosen
1 , the tangent e2 and the binormal e3 ). If the basis e
kc
ko
kc kc
then the matrix cko : ke k = ke kcko is defined (see (1.8)).
ko
Examples of constructing the matrix kf
k:
ko
if Oko is a cylinder joint then kf
k = kf1ko | f2ko | f3ko | f4ko | f5ko k, W = 0
in (4.5);
if Oko is a spherical joint or a simple point support without slipping and
deformation of kc-th body of the external medium at the point Oko then
ko
kf
k = kf1ko | f2ko | f3ko k, W = 0 in (4.5);
if Oko is a simple point support with sliding on the plane of the poko
ko
sition horizon {eko
2 , Oko , e3 }, but without deformation then kf k =
ko
f1 , W 6=0 in (4.5);
if Oko is a simple point support without sliding on the plane of the posiko
tion horizon {eko
2 , Oko , e3 }, but with deformation along with the direcko
ko
tion of e1 then kf k = kf2ko | f3ko k, W 6=0 in (4.5);
If k-th body is a wheel rolling over the surface of kc-th body without
sliding, skidding and deformation of kc-th body in a neighborhood of the
ko
point Oko then kf
k = kf1ko | f2ko | f3ko k, W = 0 in (4.5);
if k-th body is a wheel rolling over the surface of kc-th body without sliding and deformation of kc-th body but with skidding in a neighborhood
ko
of the point Oko then kf
k = kf1ko | f3ko k, W6=0 in (4.5);
if k-th body is a wheel rolling over the surface of kc-th body without deformation of kc-th body but with sliding and skidding in a neighborhood
ko
of the point Oko then kf
k = f1ko , W 6=0 in (4.5);
if k-th body is a wheel rolling over the surface of kc-th body with sliding,
skidding and deformation of kc-th body in a neighborhood of the point
ko
Oko : kf
k = 0 when the reaction of kc-th body on k-th one is absent
and from kc-th to k-th one the forces depending on the characteristics of
processes of deformation kc-th body, sliding and skidding in the vicinity
of the point Oko . With the help of these forces the non-zero wrench W
is formed in (4.5).
When in the kinematical pair (ko, koo) there are movements connected with
deformation of kc-th body, sliding and skidding of k-th body over the surface
of kc-th body at the point Oko , for computing the vector W of wrenches in
(4.5) by is necessary to have the vector of non-zero generalized velocities and
corresponding generalized coordinates of the kinematical pair (ko, koo). To
this end it is possible to use the above results after replacing in the matrix Dk
ko
the matrix kf
k of the unit vectors of movements forbidden by the constraints
ko
with the matrix kf+
k of the unit vectors of movements permitted by them.
Proposition 4.4 Let

q koo. be the vector of generalized velocities of the kinematic pair (ko, koo);
95
Vk0k be the vector of quasi-velocities of k-th body that is obtained in

result of solving the kinematical problem of the multibody system as a
component of the vector V = S T q (see (1.41)).
Then there is the relation

T
q koo. = Dk+
Vk0k
(4.33)
where
ko,T 1
kk
ko
Dk+ = Tkoo
(Mkoo
) kf+
k
(4.34)
is the matrix obtained from the matrix Dk (see (4.26)) after replacing the
ko
ko
multiplier kf
k with kf+
k.
Proof
T
Dk+
Vk0k
ko T
ko 1 0,koo
ko T
ko 1 ko,koo
= kf+
k (Mkoo
) Vkoo = kf+
k (Mkoo
) Vkoo
=
ko T
ko 1
ko
ko koo.
k (Mkoo
) Mkoo
kf+
kq
=
kf+
ko T
ko koo.
k kf+
kq
= q koo.
kf+
The obtained relation has practical value only in the case where movements of
sliding, skidding and deformation are separated on the directions of the unit
vectors of the basis eko .
4.4. Dierential equations of time-varying constraints

Constraints of k-th body of the system with kc-th one of the external medium
are time-invariant in the third special cases:
0,kc
kc-th body is movable in the basic frame E0 , Vkc
() 6= 0, the movement
kc,T
kc,ko
= 0 in
of Eko with respect to Ekc is absent: Lko () = Lkc,T
ko , wko
(4.9) and (4.10)
0,ko
0,kc
Vko
() = Lkc,T
ko Vkc ()
0,kc
kc-th body is movable in the basic frame E0 , Vkc
() 6= 0, Eko takes
part only in translation with respect to Ekc when surface (4.32) does not
kc,kc
kc,ko
kc
()Cko
, wko
= 0 in (4.9) and (4.10)
have curvature: Lkc
ko () = Tko
0,ko
kc,kc
kc 0,kc
Vko () = Tko ()Cko Vkc ()
kc
kc
= diag{ckc
where Cko
ko , cko };
0,kc
() = 0; Eko takes
kc-th body is immovable in the basic frame E0 , Vkc
part only in the rotation with respect to Ekc (due to curvature of (4.32)):
kc,kc kc
kc,ko
Cko (), wko
6= 0 in (4.9) and (4.10);
Lkc
ko () = Tko
0,ko
kc,ko
kc,ko
Vko () = Vko () = col {0T , wko
()}
96
Chapter 4
Any combinations of these cases are possible inclusively and the common one
(4.9) and (4.10);
Proposition 4.5 Dierential equation of time-varying holonomic and nonholonomic relations of the multibody system with bodies of the external medium
have the form (Fig. 4.2)
DT q
= F() = col {Fk ()}
0,ko
Vko
()
kc,ko
Vko ()
0,kc
Lkc,T
ko ()Vkc () +
kc,ko
col {0T , wko
()}
ko T
ko 1 ko,T 0,ko
k (Mkoo
) Ckoo Vko ()
Fk () = kf
=
=
(4.35)
kc,ko
Vko
()
Proof Let us return in relation (4.29), then

T
DT q = diag {DkT }SR
q = diag {DkT }col {Vk0k } = col {DkT Vk0k }
where
DkT Vk0k
ko T
ko 1 0,koo
ko T
ko 1 ko,koo
= kf
k (Mkoo
) Vkoo = kf
k (Mkoo
) Vkoo
+
ko T
ko 1 ko,T 0,ko
kf
k (Mkoo
) Ckoo Vko () =
ko T
ko 1
ko
ko koo.
k (Mkoo
) Mkoo
kf+
kq
+
kf
ko T
ko 1 ko,T 0,ko
kf
k (Mkoo
) Ckoo Vko () =
ko T
ko 1 ko,T 0,ko
0 + kf
k (Mkoo
) Ckoo Vko ()
2
It is very easy to obtain the analog of relation (4.29) for computing generalized
velocities of the kinematical pair (ko, koo) when constraints are time-varying.
Proposition 4.6 Let
q koo. be the vector of generalized velocities of the kinematic pair (ko, koo);
Vk0k be the vector of quasi-velocities of k-th body obtained in result of
solving the kinematical problem of the multibody system as a component
of the vector V = S T q (see (1.41)).
Then there is the following relation
T
Vk0k Fk+ ()
q koo. = Dk+
(4.36)
ko T
ko 1 ko,T 0,ko
where Dk+ is defined by (4.34); Fk+ () = kf+
k (Mkoo
) Ckoo Vko () is
obtained from the vector Fk () (see (4.35)) in result of replacing the multiplier
ko
ko
kf
k with kf+
k.
97
Proof
T
Vk0k
Dk+
ko T
ko 1 0,koo
ko T
ko 1 ko,T 0,ko
= kf+
k (Mkoo
) Vkoo = kf+
k (Mkoo
) Ckoo Vko () +
ko T
ko 1 ko,koo
ko T
ko 1 ko,T 0,ko
kf+
k (Mkoo
) Vkoo
= kf+
k (Mkoo
) Ckoo Vko () +
ko T
ko 1
ko
ko koo.
k (Mkoo
) Mkoo
kf+
kq
=
kf+
ko T
ko 1 ko,T 0,ko
kf+
k (Mkoo
) Ckoo Vko () + q koo. = Fk+ () + q koo.
2
In some often meeting cases the calculated relations are simplified up to the
form that needs no computational expenditure for forming them.
Proposition 4.7 Let Oko be a spherical joint or a simple point of support
without sliding, skidding and deformation of kc-th body. Then the relation for
computing the matrix Dk in (4.26) assumes the form
kk
ko
kf
k
Dk = Tkoo
Proof If Oko is a spherical joint or a simple point of support without

sliding, skidding and deformation of kc-th body then the condition of imko
mobility of this point assumes the form vkoo
= 0 and does not depend on
the basis chosen. If this condition is written in the basis of axes of transko,koo
lation eko , col {q1koo. , q2koo. , q3koo. } = 0 then the coordinate column vkoo
of
ko
the vector vkoo
in the basis ekoo is necessary to be re-computed in the bako,ko
ko,koo
sis eko , vkoo
= col {q1koo. , q2koo. , q3koo. } = cko,T
. This fact leads the
koo vkoo
ko,T 1
ko,T 1
kk
ko
(Mkoo
) kf
k. If the
matrix (Mkoo ) to arise in the relation Dk = Tkoo
ko
koo
k
condition vkoo = 0 is leaven in the basis e
= e then there is no necesko
sity to introduce the matrix Mkoo
. This is equivalent to the next assertions
ko,koo
ko koo.
ko
k
ko
kf kq
kf kvkoo , Rkoo (kc, k) = kf
kk . 2
Proposition 4.8 Let
Oko be a spherical joint or a simple point of support without sliding,
skidding and deformation of kc-th body;
Oko be a cylinder joint (in the kinematical pair (ko, koo), rotation and
translation are with the same immobile unit vector eko
i , i = 1, 3);
the kinematical pair (ko, koo) is of the first class (movements by five
coordinates are forbidden).
Then in relation (4.33) and (4.36) there is the matrix
kk
ko
Dk+ = Tkoo
kf+
k
Proof In the first case the reason of the statement is the same as in the
ko
ko
ko
kf+
k kf+
k.
previous proposition while in two other cases we have Mkoo
2
98
Chapter 4
Examples
1. Walking machine. Let sliding of the support and deformation of the external medium is absent. Then Oi4 , i = 1, 6, are simple points of support and,
i4,i4
i4o
due to (4.36) there are the relations Di4 = Ti4oo
kf
k, i = 1, 6, (Fig. 1.6).
Due to (4.26) and (4.27) the generalized forces of reactions and dierential
equations of time-invariant holonomic constraints have the form
QR = S R R = D , D = SR diag {Dk },
DT q = 0
where the matrix SR is composed from the columns of S with the indexes
i4, i = 1, 6, (see Sections 1.2.1 and 1.6.3).
2. Test bench (Fig. 1.7). Let sliding and skidding are absent. Then Oij , i =
1, 6, are cylinder joints and due to (4.26) there are the relations Dij =
ij,ij
ij6=o,T 1
ij,o
Tij,oo
(Mij,oo
) kf
k, i = 1, 6, j = 18, 21, where i is the index of support,
j is the index of lever and the last link in every support that has relations
with bodies of the external medium (the total number of relations is 112).
ij,o
Non-zero blocks of the matrix Mij,oo
have the form
cij,o,T
ij,oo
ij,oo
ij,o
10 10
10 11
10
= cT3 (6ij,oo ) = c10T
ij,o cij , cij = c11 ci2 . . . cij
= kcT3 (6ij,oo )eij,oo

| cT3 (6ij,oo )eij,oo
| eij,oo
k
1
2
3
ij,o
where c10
ij,o = c1 (4 ) is the matrix of orientation of the joint Oij in the plane
10
{e10
2 , O10 , e3 } of the inertial frame. Due to (4.26) and (4.27) generalized forces
of reactions and dierential equations of time-invariant holonomic constraints
assume the form
QR = S R R = D , D = SR diag {Dk }, DT q = 0
where the matrix SR is composed from the columns of the matrix S with the
indexes i7, i = 1, 6 (see Section 1.2.1 and 1.6.3).
3. Double pendulum. Let the low end of the system (see Section 1.2.1) is sliding
with friction over the plane {e02 , O0 , e03 } of the inertial frame E0 = (O0 , e0 ),
In the capacity of the frame E20 = (O20 , e20 ) let us choose the result of
translation of E0 = (O0 , e0 ) with the vector o020 (see Sections 1.2.1, 1.6.3 and
Fig. 1.4).
For solving the problem let us use relations (4.26) in the common form
Q2
D2
S2
q
= S2 R = D , D = S2 D2
20,T 1 20
22
0
T
= T2oo
(M2oo
) f1 , = 21 , c20
2oo = c2 , D q
2
s6 c62
0
0
0
1 26
0 p21 c62 s62
= col {s2 , s2 } = 0
0
0
0
0
0
1. 2.
= col {o1.
2 , 5 , 6 }
=0
0
0
1
99
The sliding velocity of the support O20 over the plane {e02 , O0 , e03 } is computed
T
with the help of relation q koo. = Dk+
Vk0k (see (4.33)). The vector W is defined
with substituting the computed sliding velocities in relations (4.5).
4.5. Dierential equations of constraints of multibody systems with

loops
Closed kinematical pairs are called loops. The structure of such pairs are not
tree-like. The idea of solving the problem is simple: one must literally use the
theory that is developed for the case of interaction of the system bodies with
bodies of the external medium under the condition that in the case where two
bodies are in mechanical contact one of them can be treated as external with
respect to the other.
lk
st
Rlk
(st, lk), Rst
(lk, st) is the wrenches of reactions obtained in the kinematical pair (lk, st) from st-th body of the system to lk-th body and from
lk-th body to st-th body in Elk and Est , relatively, Llk
st is the matrix of
transform from Elk to Est ;
SR is the column of the parastrophic matrix S of the system
SR = S lk Llk
st Sst
where Slk , Sst are the columns of the same matrix that correspond to
lk-th and st-th bodies of the system.
Proposition 4.9 Let the multibody system have a loop with (ij)-origin and
the closing kinematical pair (lk, st).
Then
generalized forces of reactions generated by presence of loops have the
form
QR = SR R = D lk , D = SR Dlk
lk,lk
lko,T 1
lko
Dlk = Tlkoo
(Mlkoo
) kf
k, lk = col {lk
}
under the condition that the origin Olko of Elko (the contact point of lk-th
and st-th bodies) is on the surface of st-th bodies treated as external with
respect to lk-th body of the system;
dierential equations of holonomic and non-holonomic constraints generated by the presence of loops in the system have the form
(Slk Dlk )T q
= F() = col {Flk ()}
Flk () =
0,lko
Vlko
()
st,lko
Vko ()
=
=
lko T
lko 1 lko,T 0,lko
kf
k (Mlkoo
) Clkoo Vlko ()
st,T
0,st
st,lko
Llko ()Vst () + Vlko
()
st,lko
T
col {0 , wlko ()}
(4.37)
100
Chapter 4
0,lko
where the quasi-velocities Vlko
() are computed through the second branch
of the loop: E10 , E11 , . . . , Eij , . . . , Est , Elko .

If it is desired then in the both parts of relation (4.37) we may extract the
generalized velocities of motion of ij-th origin of the loop in order to reduce
them later on. Experience has shown that similar transforms do not give great
economy of computational expenditure but complicate very much the using
of developed algorithms.
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Notation
Convention
We usually introduce:
lower-case letters for numbers, variables, vectors;

capital letters for matrices, operators;
bold letters for sets, spaces;
calligraphic letters for aggregate matrices;
x means the time derivative of a function x = x(t).
General
A
-algebra of subsets of
A : H0 H00
operator acting from D(A) H0 into AD(A)

H00 (D(A) may not coincide with H0 )
all complex numbers (complex plane)
Cn
unitary n-dimensional space
D1
unit disk, D1 = { :| | 1}
D(A)
domain of A
diag {x, y, . . .}
diagonal matrix with entries x, y, etc.
E, En
n n identity matrix
symbol of (mathematical) expectation
df /dq
Jacobian matrix
unit circle, 1 = { :| |= 1}
GL(R, n)
full linear group of automorphisms of Rn (i.e., the

group of invertible n n-matrices
105
106
Notation
Hilbert space
H = H (D)
Hardy space of functions analytic and bounded on

D
K(A)
kernel of A
L2 (Rn , T)
Hilbert space of square-integrable (over T) vectorfunctions with values in Rn
LHP
left half-plane
all positive naturals
O, On
null matrix, n n null matrix
[P ]+
symmetric part of matrix P
[P ]
skew-symmetric part of P
Po
time-invariant part of P
number axis (field of real numbers)
R(A)
range of A
RHP
right half-plane
Rn
Euclidean n-dimensional space
SL(R, n)
special linear group of automorphisms of Rn

(group of invertible n n-matrices A, det A = 1)
lxa
straight line passing through a certain point a in
parallel to a free vector

x
Laplace transform of any operator P
probability distribution
Rf
R+ and R
covariance operator Rf = E(f Ef )(f Ef ) (or

correlative operator Rf = Ef f ) of f
parts of matrix function R that are analytic in the
closed RHP
set of elementary events
(, A, P)
probability space
h, i, h, iH
inner product in H
kk2
square vector norm
kk
matrix norm
107
Notation
symbol of transposition
Special
[A2 ]+ q
[A2 ] q
[A1 ]+ q
[A1 ] q
Ast
lk ,
position symmetrical force

position skew-symmetrical force
velocity symmetric force

velocity skew-symmetric force
st
Blk
x
s
entries of A(q) and B(q, q ) situated at intersection

of (st )-th rows and (lk )-th columns
skew-symmetric matrix generated by
coordinate vector col {xs1 , xs2 , xs3 }
Bq
non-conservative position force
B(q, q )q
b(q, q )
b(q, q )
F T MT Z, Z = LY, Y = (AX + BV)
clkk
lk
orientation matrix
cst
matrice of rotation from es to et
Cts
diag {cst , cst }
Cq
conservative force
lk
(i, k
Clk
1; lk)
col{1lk , 2lk , 3lk }

col{4lk , 5lk , 6lk }
lk
lk
col{lk
, , }
Dq
D+
(q), D+
(q),
+
D (q), D
(q)
E0 , El0
wrench of elastic actions

column of linear distortions
column of linear angular deformations
column of constructive rotations
non-conservative velocity (dissipative) force
matrices of contribution of one motion (upper index) into another (lower index) (+) stands for
non-elastic (slow) motion, and () stands for
elastic (fast) motion
inertial frames
Es
frame in D3 frame attached to G
Eij
n n-matrix with unit at place (i, j) and zeros at

all other ones
Elk
(lk)-th element of the graph
108
Notation
E,k1 and Elk
(, k 1; lk)-th kinematic pair
es
set of orthonormal vectors es1 , es2 , es3 (basis)
[es ]
vectorial matrix of the kind k es1 | es2 | es3 k
Es = (Os , es )
Cartesian frame with the origin Os D3 and with

orthonormal basis es = {es1 , es2 , es3 } V3
vector of wrenches
diag{kf lk k}
k f lk k
mobility axes matrix for (, k 1; lk)-th kinematic

pair
F+ , F
matrices of 6-dimensional unit vectors (of nonelastic and elastic motions)
filk
6-dimensional unit column with 1 at i-th position
rigid body
G, Gk
Gq
non-conservative velocity (gyroscopic) force
system of line vectors
binary vector generated by -system
upper-triangular block configuration matrix
(lk)+
set of accessibility
(lk)
set of counter accessibility or kinematic chain
(lk)
set of right incidence
(lk)
set of left incidence
ls
aggregate col{x, s }
lxs
L
line of action of line vector

H
L(R, 6)
lkk
}
M = diag{Mlk
motion in H
multiplicative group
block-diagonal matrix of transition from generalized velocities to quasi-velocities
vector-column of forces of friction
vector of wrenches of friction
N (lk)
number of bodies on (lk)-th element
N0
a set of naturales
109
Notation
N , N+
number of mulltiplications, additions
ost V3
vector of translation of Et to Es
o,k1
lk
0 = (0, 0, 0)
(O, a)
O D3
translation
3-dimensional null row
the bounded vector with the initial point O and
the terminal one a
center of reduction
ps,k1
lkk
column of constructive translations
plk
i
constructive translation
P
q , u
q+ , q
q
qilk R1
q lk
q = col {q lk. }
Q0s
Gs
operation of permutation of matrix rows and

columns
reference motion and control
generalized coordinates of non-elastic (slow) and
elastic (fast) motions
deriviative of q in time
dq
dt
generalized coordinate
column of generalized coordinates of (, k 1; lk)th kinematic pair
column of generalized velocities
kinetic binary vector in motion of G in E0 with
respect to Es
vector of wrenches of internal reactions
,k1
Rlk
configuration of (.k 1; lk)-th kinematic pair
,k1
Rlkk
constructive configuration
lkk
Rlk
functional configuration
S = F T MT L
Seo
SO(R, 3)
spst
Tts
parastrophic matrix
enlargement of S
one parameter group of matrices of rotation
rows of the parastrophic matrix S
6 6-matrix of translation of Et to Es
110
tij (a)
tj (b)
ht, ki
st
st
Vtis = col{vti
, wti
}
Notation
transvection
diagonal matrix with b at place j and units at all
other ones
inner product
vector of quasi-velocities
i.j1,nj
V = col{Vnj
}
6n-dimensional quasi-velocity column of all kinematic pairs
V = col{Vlk10;lk }
6n-dimensional quasi-velocity column of all (lk)-th

elements
st
st
, vti
} twist of motion of Et with respect to Es reduced
Wtis = col{wti
to the origin of Ei
vector of wrenches of actions from external

medium to system bodies
vector-column of control forces u(, k1; lk) along

axes of motion of pairs (, k 1; lk)
U
X
G
vector of control wrenches

S T. q
characteristic function of points of D3 being occupied by G
lk
lk
matrix of apparent additional masses of Glk
lk
i
constructive rotation
block-diagonal matrix of quasi-velocities
ilk
angle
ss
inertia matrix of G with respect to 0s in es
00 , ss
lk
lk
Mises (inertia) matrices

Mises matrix of Glk in Elk calculated at Olk and
in elk

Aggregative Mechanics of Rigid Body Systems Eng

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Aggregative mechanics of rigid body

1 Kinematics of multibody systems

2 Equations of motion for a multibody system

3 Analytic transvective forms of dynamic equations in the Cauchy

The main theme of this book is Computer-Aided Modeling concerned with

ing this problem. The above-mentioned sequence of operations is replaced

problems in the field of multibody systems, detailed explanations and examples.

Kinematics of multibody systems

1.1. Linear space of equipollent systems of line vectors

There are various categories of vectors. A vector of the first category a

Kinematics of multibody systems

(O , a) is the bounded vector with the terminal point a (here it is possible

where the symbol means the vector product of free vectors.

Proposition 1.1 The set of aggregates is not a linear space.

Kinematics of multibody systems

In particular, a binary vector is an aggregate if the aggregates composing this

are called degenerate.

an aggregate lx is degenerate if its line of action goes through the center

where I is the identity operator in V3 .

Kinematics of multibody systems

i.e., the matrix with entries being vectors (coordinate columns);

vector (O , a) in the frame E (see the superscript); E is 3 3-dimensional

Introduce a new Cartesian frame E = (O , e ) with some orthonormal basis

(x R3 is the column of coordinates of x in the basis e ; | det c | = 1).

superscript), and o is the skew-symmetric matrix induced by o

Kinematics of multibody systems

Proposition 1.8 The set of all motions L : H H is the multiplicative

where p is some real number which we shall define below.

On the other hand, the vector product between ph(1) and h

where s is a scalar parameter.

a = (O , a) is the radius vector of a P. Let us also denote by a and a

where w and w are the coordinate columns of w in the bases e and e ,

Thus geometrically we may determine the instantaneous angular velocity as

Kinematics of multibody systems

Let us consider the case where a couple of instantaneous angular velocities w

and the full velocity of the point a

Proof Let ck be the rotation matrices of E with the fixed axes lw

the instantaneous translation velocity is a free vector fixing the state of

As the twist W defines the instantaneous rotation and translation, we may

Proof With a little algebra we have

Kinematics of multibody systems

where h H and h H are the coordinate representations of a pair of

Remark 1.2 In the case where the matrix

define the exponential form of the rotation matrix

with using the properties of the skew-symmetrical matrix w

1.2. Graph of a tree-like multibody system

Figure 1.1. Graph of a multibody system with tree-like structure

Kinematics of multibody systems

Proposition 1.14 The relative position of the elements of (, k 1; lk)-th

can contain up to six functions (constants) dierent from 0;

can contain only one function dierent from zero.

The union of all functional configurations corresponding to all kinematic pairs,

Kinematics of multibody systems

1.2.1. Examples of multibody systems

Figure 1.2. Gyroscope on a tilted base and its graph

Figure 1.3. Flywheel on lk-th body

Double pendulum with sliding hanger

= {E0 , E1 , E2 , E3 }, (1)+ = {E1 , E2 , E3 }, (2)+ = {E2 , E3 }

Kinematics of multibody systems

Figure 1.4. Double pendulum with sliding hanger

The system configuration is again determined by the same four functions as

Figure 1.5. Six-component manipulator

Kinematics of multibody systems