Another form of equations of motion for constrained multibody systems |
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Authors: | C Q Liu R L Huston |
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Institution: | (1) NVH Development and Engineering, CIMS 481-47-10, DaimlerChrysler Corporation, 800 Chrysler Drive, Auburn Hills, MI 48326-2757, USA;(2) Department of Mechanical, Industrial, and Engineering, University of Cincinnati, P.O. Box 210072, Cincinnati, OH 45221-0072, USA |
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Abstract: | This paper presents a new and simplified set of explicit equations of motion for constrained mechanical systems. The equations
are applicable with both holonomic and nonholonomic systems and the constraints may, or may not, be ideal. It is shown that
this set of equations is equivalent to governing equations developed earlier by others. The connection of these equations
with Kane's equations is discussed. It is shown that the developed equations are directly applicable with controlled systems
where the controlling forces and moments may be subject to constraints. Finally, a procedure is presented for determining
which control force systems are equivalent. Examples are presented to demonstrate the advantages, features, and range of application
of the equations. |
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Keywords: | Multibody systems Constraints Computational efficiency Controlled systems |
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