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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 4, issue 1
Mech. Sci., 4, 1-20, 2013
https://doi.org/10.5194/ms-4-1-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Recent advances and current trends in numerical multibody...

Mech. Sci., 4, 1-20, 2013
https://doi.org/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

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 S. K. Saha et al.
  • 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.

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