A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints

Shui Xiaoping; Zhang Yongfa

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Article Navigation > Applied Mathematics and Mechanics > 1996 > 17(6): 551-557

Shui Xiaoping, Zhang Yongfa. A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints[J]. Applied Mathematics and Mechanics, 1996, 17(6): 551-557.

Citation:

Shui Xiaoping, Zhang Yongfa. A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints[J]. Applied Mathematics and Mechanics, 1996, 17(6): 551-557.

Citation:

Shui Xiaoping, Zhang Yongfa. A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints[J]. Applied Mathematics and Mechanics, 1996, 17(6): 551-557.

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A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints

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

Received Date: 1995-03-24
Publish Date: 1996-06-15

Abstract

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.
- dynamicmultibody system,
- nonholonomic constraint,
- rheonomic constraint,
- singular value decomposition,
- Projection,

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References(6)

References

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