Library of Joint Elements for Reduced Multibody System Transfer Matrix Method

Reduced multibody system transfer matrix method is a completely recursive method. By adopting the joint coordinates as the system’s generalized coordinates, it significantly reduces the number of generalized coordinates and simplifies computational complexity. Consequently, the joint element transfer equations are crucial for the system computation. Nevertheless, existing literature lacks a comprehensive summary of the transfer equations of joint elements in reduced multibody system transfer matrix method. This paper establishes the library of joint elements for reduced multibody system transfer matrix method. The content can be divided into three parts. Firstly, the existing transfer equations of joint elements are systematically organized. Secondly, the transfer equations for some underexplored joint elements’ types are deduced, including cylindrical joint element, screw joint element and universal joint element. At last, the effectiveness and correctness of the proposed joint elements’ transfer equations are verified via a triple-pendulum system.