Simulation of Multibody Systems with Nonholonomic Constraints

The paper deals with the nonholonomic multibody system dynamics from a point of view resulting from some present applications in high‐tec areas like high‐speed train technology or biomechanics of some disciplines in high‐performance sports. A formulation of nonholonomic constraints which are linear related to generalized velocities is based on a derivative‐free approach for generating Lagrangian motion equations of multibody systems with kinematical tree structure as well as for constrained multibody systems. This has been done by using di.erential‐geometric concepts in a Riemannian space. The ideas are illustrated by the classical edge condition on double‐curved surfaces. The surfaces are described by C²‐vector functions, for example by NURBS‐approximation. As an example a bobsleigh is regarded moving on a double‐curved surface.