General Spatial Curve Joint for Rail Guided Vehicles: Kinematics and Dynamics

Joao Pombo, Jorge A C Ambrósio

Research output: Contribution to journalArticle

51 Citations (Scopus)


A kinematic constraint representing a general spatial curve joint was developed and its computational implementation was considered. The resultant general spin curve kinematic serves as the basis for the construction of the railway as it provides a moving frame, associated to the curve where the osculating plane is defined with respect to which the cant angle can be defined.

Original languageEnglish
Pages (from-to)237-264
Number of pages28
JournalMultibody System Dynamics
Issue number3
Publication statusPublished - Apr 2003
Externally publishedYes


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