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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 4, 1-20, 2013
http://www.mech-sci.net/4/1/2013/
doi:10.5194/ms-4-1-2013
© Author(s) 2013. This work is distributed
under the Creative Commons Attribution 3.0 License.
Review article
31 Jan 2013
Evolution of the DeNOC-based dynamic modelling for multibody systems
S. K. Saha1, S. V. Shah2, and P. V. Nandihal1 1Department of Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110 016, India
2Department of Mechanical Engineering, McGill University, Montreal, Canada
Abstract. 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.

Citation: Saha, S. K., Shah, S. V., and Nandihal, P. V.: Evolution of the DeNOC-based dynamic modelling for multibody systems, Mech. Sci., 4, 1-20, doi:10.5194/ms-4-1-2013, 2013.
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