To derive Lagrange equations of nonholonomic systems without using the Chetaev conditions |
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| Authors: | Puyun Gao |
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| Institution: | School of Astronautical and Materials Engineering, National University of Defense Technology, Changsha, Hunan 410073, People’s Republic of China |
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| Abstract: | The present paper derives the equation of motion for a class of nonholonomic dynamical systems from the d’Alembert–Lagrange equation. In this paper, the relation dδ = δd is assumed only for those generalized coordinates whose variations are independent. For the remaining coordinates, the transpositional relations are derived by means of mathematics method, which are different from the Chetaev condition. Several examples are given. |
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| Keywords: | Equation of motion Nonholonomic constraints d’ Alembert– Lagrange equation Chetaev condition Mathematics method |
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