A Vector Approach for Analytical Dynamics of a System of Rigid Bars

An analytical mechanics approach to derive equations of motion from vector kinematic description of rigid bar assemblies is developed. It is shown that various holonomic constraints governing multibody mechanical systems can be modeled using vector kinematics without using trigonometric/transcendental functions. The principle of virtual work is utilized to derive a map between the generalized coordinates associated with the vector approach and the angular velocity vector associated with the rigid bars. The utility of the vector approach is demonstrated by deriving the dynamics of tensegrity systems and a carpal wrist joint.