An improved formulation for constrained mechanical systems

DOI10.1023/A:1009724704839MaRDI QIDQ1286902zbMATH OpenOpenAlexFDO

Authors Ara Arabyan, Fei Wu

Publication date 18 October 1999

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1009724704839

zbMATH Keywords

kinematicsdegeneracyredundancyinconsistencygeneralized inverse problemintermittent constraints

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Holonomic systems related to the dynamics of a system of particles (70F20)

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(14)

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• Skew-gradient representations of constrained mechanical systems
• An application of the Udwadia-Kalaba dynamic formulation to flexible multibody systems
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• Multibody dynamics simulation of planar linkages with Dahl friction
• A clear description of system dynamics through the physical parameters and generalized coordinates
• A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates

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