Determination of joint reactions in a rigid multibody system, two different approaches

Abstract

In this paper two different methods for determination of frictionless jointreaction forces and moments are presented. The considered multibodysystem has an open kinematic chain structure. The first method refers to thedetermination of resultant joint reaction forces and moments based on the Rodrigues approach suitable for computation in a symbolic form. Thesecond method presented is the method based on the so-called vectors ofthe body mass moments and vector rotators coupled for a pole andoriented axes. Both approaches are presented and discussed on the threelikerigid multibody system.