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Journal Articles

Statics Analysis for Multibody Systems Containing Ball-and-Socket Joints Based on the Reduced Transfer Matrix Method

Jianshu Zhang, Xizhe Zhang, Xiaoting Rui, Zhengquan Liu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. April 2025, 20(4): 041003.
Paper No: CND-24-1318
https://doi.org/10.1115/1.4067858
Published Online: February 28, 2025
... singularities occur if Euler angles are used as the generalized coordinates for ball-and-socket joints. Therefore, Euler parameters are adopted as the generalized coordinates for ball-and-socket joints. Since Euler parameters are not independent and subject to constraint equation, the equilibrium cannot...
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Topics: Constraint equations, Dynamics (Mechanics), Equilibrium (Physics), Jacobian matrices, Multibody systems, Relaxation (Physics), Statics, Nonlinear equations, Runge-Kutta methods, Chain