Maher, B., Samak, S. (2000). A MODIFIED COMPUTATIONAL APPROACH BASED ON KANE'S METHOD. test, 23(4), 131-139. doi: 10.21608/erjm.2000.71227
Bilal Maher; Salem Samak. "A MODIFIED COMPUTATIONAL APPROACH BASED ON KANE'S METHOD". test, 23, 4, 2000, 131-139. doi: 10.21608/erjm.2000.71227
Maher, B., Samak, S. (2000). 'A MODIFIED COMPUTATIONAL APPROACH BASED ON KANE'S METHOD', test, 23(4), pp. 131-139. doi: 10.21608/erjm.2000.71227
Maher, B., Samak, S. A MODIFIED COMPUTATIONAL APPROACH BASED ON KANE'S METHOD. test, 2000; 23(4): 131-139. doi: 10.21608/erjm.2000.71227

A MODIFIED COMPUTATIONAL APPROACH BASED ON KANE'S METHOD

ERJ. Engineering Research Journal
Article 10, Volume 23, Issue 4, October 2000, Pages 131-139    PDF (217.66 K)
Document Type: Original Article
DOI: 10.21608/erjm.2000.71227
Authors
Bilal Maher1; Salem Samak2
1Basic Eng. Sciences Dep. Faculty of Engineming Menoufia University Shebin El-Kom, EGYPT
2Prod. Eng. and Mech. Design Dept. Faculty of Engineming Menoufia University Shebin El-Kom, EGYPT
Abstract
The partial angular velocities and partial linear velocities play a hndamental role ;
in forming Kane's equations of motion. The objective of this paper is to develop
an improved computational approach in order to simplify and solve Kane's
equations of motion for multibody systems. This can be achieved by obtaining
an optimal set of generalized speeds which are first randomly selected. They
could be chosen as a set of angular velocities and linear velocities or simply a
set of independent joint velocities. The proposed methodbas shown that Kane's
method can be modified and leads to an optimal set, of generalized speeds,
which leads to simpler equations of motion. An application is adopted to
illustrate the proposed approach.
Keywords
Kane's Method; Multibody System Dynamics; Robotics
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