%0 Journal Article
%A Critchley, J. H.
%A Anderson, Kurt S.
%D 2003
%I Begell House
%N 2&3
%P 20
%R 10.1615/IntJMultCompEng.v1.i23.50
%T A Generalized Recursive Coordinate Reduction Method for Multibody System Dynamics
%U https://www.dl.begellhouse.com/journals/61fd1b191cf7e96f,7f7cdb8d6d2aa4b1,2346dd05644d1d96.html
%V 1
%X The method of recursive coordinate reduction (RCR) offers solutions to the forward problem of multibody dynamics at a cost in which the number of operations is linear in both the number of generalized coordinates, n, and the number of independent algebraic constraints, m (e.g., O(n + m)). However, the RCR is presently restricted in applicability (albeit broad) and susceptible to formulation singularities. This article develops two methods for avoiding formulation singularities as well as a recursive general coupled loop solution that extends the RCR to the complete set of multibody systems. Application of these techniques are further illustrated with a special five-bar linkage. The existing RCR coupled with these developments constitute a generalized recursive coordinate reduction method that should be used in place of the traditional "O(n)" constraint technique (truly O(n + nm2 + m3)) for superior O(n + m) computational performance.
%8 2003-06-01