| A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS |
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| 引用本文： | 水小平,张永发.A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS[J].应用数学和力学(英文版),1996,17(6):577-584. |
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| 作者姓名： | 水小平 张永发 |
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| 作者单位： | Department of Applied Machanics，Peking Institute of Technology，Beijing 100081，P.R.China |
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| 摘 要： | ＡＭＥＴＨＯＤＦＯＲＳＯＬＶＩＮＧＴＨＥＤＹＮＡＭＩＣＳＯＦＭＵＬＴＩＢＯＤＹＳＹＳＴＥＭＳＷＩＴＨＲＨＥＯＮＯＭＩＣＡＮＤＮＯＮＨＯＬＯＮＯＭＩＣＣＯＮＳＴＲＡＩＮＴＳ￥ＳｈｕｉＸｉａｏｐｉｎｇ（水小平）ＺｈａｎｇＹｏｎｇｆａ（张永发）（Ｄｅｐａｒ...
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| 收稿时间： | 24 March 1995 |
A method for solving the dynamics of multibody systems with rheonomic and nonholonomic constraints |
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| Shui Xiaoping,Zhang Yongfa.A method for solving the dynamics of multibody systems with rheonomic and nonholonomic constraints[J].Applied Mathematics and Mechanics(English Edition),1996,17(6):577-584. |
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| Authors: | Shui Xiaoping Zhang Yongfa |
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| Institution: | (1) Department of Applied Machanics, Peking Institute of Technology, 100081 Beijing, P. R. China |
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| Abstract: | The solution of the dynamic problem of multibody systems subject to rheonomic and nonholonomic constraints is achieved by applying singular value decomposition of the constraint matrix and projections of the dynamic equations of the systems along the feasible and unfeasible directions of the constraints. Formula to solve the constraint reaction forces and a method to avoid the violation of the constraints are also given.The solution does not rely on coordinates used to describe the systems and is computational efficitive example is finally presnted. |
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| Keywords: | dynamic multibody system nonholonomic constraint rheonomic constraint singular value decomposition Projection |
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