Computational Screw Dynamics of Multi-body-Systems

This research study focuses on a general application of dynamic analysis in screw coordinates formed by Newton–Euler equations. The utilization of screw coordinates enables the computation of absolute displacement and acceleration parameters by numerical integration and numerical differential interpolation from velocity parameters, individually. The dynamic equations can be established directly using the obtained absolute accelerations and displacements from the kinematic analysis. To demonstrate and validate the effectiveness of this dynamic analysis approach, the Gough-Stewart platform as a representative rigid multibody system is analyzed as a representative example. It should be emphasized that although this paper specifically examines the Gough-Stewart parallel mechanism, the proposed modeling method for kinematic and dynamic analysis can also be effectively used to establishing analysis algorithms for various mechanisms. Through a comparative analysis of computing time, the superiority of the method over conventional dynamic analysis method using displacement as a global variable are demonstrated.