%0 Journal Article
%T Evolution of the DeNOC-based dynamic modelling for multibody systems
%A S. K. Saha
%A S. V. Shah
%A P. V. Nandihal
%J Mechanical Sciences (MS)
%D 2013
%I Copernicus Publications
%R 10.5194/ms-4-1-2013
%X 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.
%U http://www.mech-sci.net/4/1/2013/ms-4-1-2013.html