In multibody dynamic simulation it often is convenient to choose new body axes such that all body frames are parallel to the attitude reference frame when the system of bodies is in a prescribed configuration consistent with the interbody constraints. Computational details are given of how this may be done efficiently using a recursive method.
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On the Recursive Determination of Body Frames for Multibody Dynamic Simulation
R. E. Roberson
Department of Applied Mechanics and Engineering Science, University of California San Diego, La Jolla, Calif. 92037
Roberson, R. E. (September 1, 1985). "On the Recursive Determination of Body Frames for Multibody Dynamic Simulation." ASME. J. Appl. Mech. September 1985; 52(3): 698–700. https://doi.org/10.1115/1.3169124
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