Evolution of the DeNOC-based dynamic modelling for multibody systems

• Main Authors: S. K. Saha, S. V. Shah, P. V. Nandihal
• Format: Article
• Language: English
• Published: Copernicus Publications 2013-01-01
• Series: Mechanical Sciences
• Online Access: http://www.mech-sci.net/4/1/2013/ms-4-1-2013.pdf

Dynamic modelling of a multibody system plays very essential role in its analyses. As a result, several methods for dynamic modelling have evolved over the years that allow one to analyse multibody systems in a very efficient manner. One such method of dynamic modelling is based on the concept of the Decoupled Natural Orthogonal Complement (DeNOC) matrices. The DeNOC-based methodology for dynamics modelling, since its introduction in 1995, has been applied to a variety of multibody systems such as serial, parallel, general closed-loop, flexible, legged, cam-follower, and space robots. The methodology has also proven useful for modelling of proteins and hyper-degree-of-freedom systems like ropes, chains, etc. This paper captures the evolution of the DeNOC-based dynamic modelling applied to different type of systems, and its benefits over other existing methodologies. It is shown that the DeNOC-based modelling provides deeper understanding of the dynamics of a multibody system. The power of the DeNOC-based modelling has been illustrated using several numerical examples.