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Question: Multibody System Modelling using Euler Lagrange Equation: Not able to solve ODE System

Question:Multibody System Modelling using Euler Lagrange Equation: Not able to solve ODE System

Billy 0 Maple
ode analysis euler lagrange model
February 20 2012
0

I am trying to model a multibody system using euler lagrange equation. There are 3 links in the system attached with each other by revolute joints. The first link has one end fixed with the revolute joint.

Length of links= l1,l2,l3

Angle with x axis=Theta1,Theta2,Theta3

Mass of links=m1,m2,m3

Moment of Inertia = M1,M2,M3

I am not able to find the solution of ODE system comprising of 3 ODEs which I get after solving Euler Lagrange Eq for Theta1,Theta2,Theta3. I am attaching the worksheet. Waiting for guidance ....

 

Regards

3Link.mw
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