A Multi-Leveled Coordinate for Multibody Mechanics

Abstract

For a proper way of modelling and simulation, as well as the precise and completeness, and a new multi-level method named homogeneous tensor coordinate(HTC) was developed by improving the absolute nodal coordinate formulation(ANCF) and the homogeneous coordinates(HC). In HTC, a new form of 2×2 matrix was employed instead of angles, when the capacity of expression and calculation was increased at the same time. HTC has good performance in traditional rigid body mechanics, which especially suitable for multibody modelling. Therefore, the robotic engineering may benefit from this finding, and a new formulation for scientific research may also affect the physics although some mathematical problems are raised in matrix theory.