A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS

Applied Mathematics and Mechanics (English Edition) ›› 1996, Vol. 17 ›› Issue (6): 577-584.

A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS

水小平, 张永发

Department of Applied Machanics, Peking Institute of Technology, Beijing 100081, P. R. China

收稿日期:1995-03-24 出版日期:1996-06-18 发布日期:1996-06-18

A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS

Shui Xiaoping, Zhang Yongfa

Department of Applied Machanics, Peking Institute of Technology, Beijing 100081, P. R. China

Received:1995-03-24 Online:1996-06-18 Published:1996-06-18

摘要/Abstract

摘要： The solution of the dynamic problem of multibody systems subject to rheonomic and nonholonomic constraints is achieved by applying singular value decomposition of the constraint matrix and projections of the dynamic equations of the systems along the feasible and unfeasible directions of the constraints. Formula to solve the constraint reaction forces and a method to avoid the violation of the constraints are also given.The solution does not rely on coordinates used to describe the systems and is computational efficitive example is finally presnted.

关键词: dynamicmultibody system, nonholonomic constraint, rheonomic constraint, singular value decomposition, Projection

Abstract: The solution of the dynamic problem of multibody systems subject to rheonomic and nonholonomic constraints is achieved by applying singular value decomposition of the constraint matrix and projections of the dynamic equations of the systems along the feasible and unfeasible directions of the constraints. Formula to solve the constraint reaction forces and a method to avoid the violation of the constraints are also given.The solution does not rely on coordinates used to describe the systems and is computational efficitive example is finally presnted.

Key words: dynamicmultibody system, nonholonomic constraint, rheonomic constraint, singular value decomposition, Projection

水小平;张永发. A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS[J]. Applied Mathematics and Mechanics (English Edition), 1996, 17(6): 577-584.

Shui Xiaoping;Zhang Yongfa. A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS[J]. Applied Mathematics and Mechanics (English Edition), 1996, 17(6): 577-584.

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A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS

A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS

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