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arXiv · 0809.1488

Dynamics of Connected Rigid Bodies in a Perfect Fluid

Taeyoung Lee·Melvin Leok·N. Harris McClamroch
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Abstract

This paper presents an analytical model and a geometric numerical integrator for a system of rigid bodies connected by ball joints, immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space, and each joint has three rotational degrees of freedom. This model characterizes the qualitative behavior of three-dimensional fish locomotion. A geometric numerical integrator, refereed to as a Lie group variational integrator, preserves Hamiltonian structures of the presented model and its Lie group configuration manifold. These properties are illustrated by a numerical simulation for a system of three connected rigid bodies.

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Taeyoung Lee, Melvin Leok, N. Harris McClamroch. 2008-09-09. Dynamics of Connected Rigid Bodies in a Perfect Fluid. https://arxiv.org/abs/0809.1488

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