Multibody dynamics with redundant constraints and singular mass matrix: existence, uniqueness, and determination of solutions for accelerations and constraint forces

minimum norm solution existence and uniqueness of solutions constraint forces overdetermined multibody systems redundant constraints singular mass matrix

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Constrained dynamics, Dirac's theory of constraints (70H45)

Cites Work

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Multibody system simulation. Numerical methods, algorithms, and software
Stabilization of constraints and integrals of motion in dynamical systems
Numerical solution of saddle point problems
Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics
Extrapolation integrators for constrained multibody systems
Augmented Lagrangian formulation: Geometrical interpretation and application to systems with singularities and redundancy
Joint reaction forces in multibody systems with redundant constraints
Joint reactions in rigid body mechanisms with dependent constraints
On the unique solvability of a direct dynamics problem for mechanisms with redundant constraints and Coulomb friction in joints
Stabilization of DAEs and invariant manifolds

Cited In (18)

A constraint violation suppressing formulation for spatial multibody dynamics with singular mass matrix
On penalty-free formulations for multipatch isogeometric Kirchhoff-Love shells
Numerical methods of closed-loop multibody systems with singular configurations based on the geometrical structure of constraints
On the constraints violation in forward dynamics of multibody systems
The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem
A benchmark problem with singularities for multibody system dynamics formulations with constraints
DAE Aspects of Multibody System Dynamics
A natural absolute coordinate formulation for the kinematic and dynamic analysis of rigid multibody systems
The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb's friction: a tutorial
Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems
Response determination of linear dynamical systems with singular matrices: a polynomial matrix theory approach
Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics
The GGL variational principle for constrained mechanical systems
A generalized constraint reduction method for reduced order MBS models
Modeling of static friction in closed-loop kinematic chains -- uniqueness and parametric sensitivity problems
Closed form solution for the equations of motion for constrained linear mechanical systems and generalizations: an algebraic approach
A new representation of systems with frictional unilateral constraints and its Baumgarte-like relaxation
Extended constraint enforcement formulations for finite-DOF systems based on Gauss's principle of least constraint. Overcoming limitations in applications to systems with singular mass matrices

Uses Software

MBSSIM

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