1Department of Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110 016, India
2Department of Mechanical Engineering, McGill University, Montreal, Canada
Received: 28 Nov 2012 – Accepted: 13 Jan 2013 – Published: 31 Jan 2013
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.
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.