Abstract
This article introduces a high-level topological representation for general multibody systems, the spatial directed graph. This simplified topological structure emphasizes the principal aspects of motion in multilink systems and forms a concise representation for the entire class of kinematically constrained multibody systems. It is shown that certain kinematic invariants with respect to this representation allow the simple formulation of kinematic constraints. In this context, it is observed that the only variables that are amenable to an operational algebra associated with this graph are the dual velocities. This formalism represents the starting point for the automatic generation of motion equations for generic multibody systems with applications in motion animation, virtual reality, robotics.
| Original language | English |
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| Title of host publication | Proceedings of SPIE - The International Society for Optical Engineering |
| Pages | 54-61 |
| Number of pages | 8 |
| Volume | 2644 |
| Publication status | Published - 1 Jan 1996 |
| Externally published | Yes |
| Event | Fourth International Conference on Computer-Aided Design and Computer Graphics - Wuhan, China Duration: 23 Oct 1995 → 25 Oct 1995 |
Conference
| Conference | Fourth International Conference on Computer-Aided Design and Computer Graphics |
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| Country/Territory | China |
| City | Wuhan |
| Period | 23/10/95 → 25/10/95 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Condensed Matter Physics