Exploring Multibody Dynamics and Spatial Vector Theory plus AI Reasoning
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Spatial vector theory offers a unified approach to analyzing complex mechanical systems by representing rotational and translational motion in 3D space. It uses spatial vectors and Plücker coordinates to simplify dynamics, kinematics, and constraint analysis. Operations like the spatial scalar and cross products facilitate motion and force calculations. The theory streamlines the analysis of rigid bodies, multibody systems, and articulated-body dynamics. Algorithms, including Recursive Newton-Euler and Articulated-Body, efficiently compute system dynamics and inertia. It addresses loop and hybrid dynamics, and contact dynamics, providing a comprehensive framework for understanding complex mechanical systems.