Dynamics of a 3D Elastic String Pendulum
Abstract
This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the point where the string is attached to the rigid body is displaced from the center of mass of the rigid body, there exist nonlinear coupling effects between the string deformation and the rigid body dynamics. A geometric numerical integrator, refereed to as a Lie group variational integrator, is developed to numerically preserve the Hamiltonian structure of the presented model and its Lie group configuration manifold. These properties are illustrated by a numerical simulation.
Keywords
Cite
@article{arxiv.0903.0332,
title = {Dynamics of a 3D Elastic String Pendulum},
author = {Taeyoung Lee and Melvin Leok and N. Harris McClamroch},
journal= {arXiv preprint arXiv:0903.0332},
year = {2009}
}
Comments
7 pages, 3 figures. Fixed notation errors involving the mass of the rigid body and the string elements