Articles | Volume 15, issue 1
https://doi.org/10.5194/ms-15-169-2024
https://doi.org/10.5194/ms-15-169-2024
Research article
 | 
12 Mar 2024
Research article |  | 12 Mar 2024

A Lie group variational integrator in a closed-loop vector space without a multiplier

Long Bai, Lili Xia, and Xinsheng Ge

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Short summary
The paper shows that the attitude vector expression for the rod can decrease the difficulty of derivation and expression of the dynamics model. Variation theory can package the closed-loop pose–attitude constraint in the dynamics model, so the constraint does not need to be considered explicitly. Using the geometry modelling method to build the dynamics model of a four-bar mechanism can avoid the repetitive operation of the closed-loop constraint.