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November 15, 2012

3D Mechanics II

In this lecture, we shall continue with the bond graph description of 3D mechanics.

We shall complete the description of the joints.

We shall then describe the problem of closed kinematic loops.

We present a complete example of a model from 3D mechanics: a bicycle.

Finally, we shall discuss the efficiency of the generated simulation code both in terms of choices that the user can make (Cardan angles vs. quaternions), and in comparing the efficiency of the multi-bond graph solution to the direct multi-body system solution.

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