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Proceedings Paper

Acceleration analysis of multi-rigid body system and its application for vehicle based stabilized platform system
Author(s): Xiao Liu; Erjuan Luo; Lei Jia; Bo Liu
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Paper Abstract

The traditional representation of acceleration of a rigid body is given in terms of the angular acceleration and linear acceleration of a point attached to the rigid body. Since this representation has no coordinate invariance, the acceleration transformation of a multi-rigid-body system is complicated. In this paper, the physical meaning of the time derivative of a twist is investigated. It reveals that the rigid-body acceleration comprises the angular acceleration and tangent acceleration of a point which is attached to the rigid body and instantaneously coincident with the origin of frame in use. Their composition presents a six-dimensional representation of the rigid-body acceleration, which is verified to be of coordinate invariance. Based on the representation, the transformation of the rigid-body accelerations is performed conveniently, and the corresponding formula of composition accelerations of one rigid body relative to any other bodies in a multi-rigid-body system is presented. The method is then extended to the application of a vehicle stabilized platform system. The method is verified to be effective by analyzing the virtual prototype of the vehicle-based stabilized platform system. This paper builds a bridge for the six-dimensional rigid-body acceleration from theory achievements to practical application.

Paper Details

Date Published: 23 January 2017
PDF: 8 pages
Proc. SPIE 10322, Seventh International Conference on Electronics and Information Engineering, 103220V (23 January 2017); doi: 10.1117/12.2266069
Show Author Affiliations
Xiao Liu, Shanxi Transportation Research Institute (China)
Erjuan Luo, Shanxi Transportation Research Institute (China)
Lei Jia, Shanxi Transportation Research Institute (China)
Bo Liu, Shanxi Transportation Research Institute (China)


Published in SPIE Proceedings Vol. 10322:
Seventh International Conference on Electronics and Information Engineering
Xiyuan Chen, Editor(s)

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