An Improved Formulation for Constrained Mechanical Systems

Research output: Contribution to journalArticle

38 Citations (Scopus)

Abstract

This paper presents an investigation of the advantages of a new formulation in the study of mechanical systems with holonomic and nonholonomic constraints. The formulation, originally proposed for systems of constrained particles, provides an efficient and robust means of simulating general multibody systems in the presence of redundant, degenerate and intermittent constraints. The structure of the formulation also allows the use of a dynamics code for pure kinematics analysis with a simple substitution. In addition, the formulation separates applied and constraint forces explicitly allowing recovery of constraint forces by straightforward means. Several examples are given to demonstrate the effectiveness of the formulation in special circumstances.

Original languageEnglish (US)
Pages (from-to)49-69
Number of pages21
JournalMultibody System Dynamics
Volume2
Issue number1
StatePublished - 1998

Fingerprint

Constrained Systems
Mechanical Systems
Kinematics
Substitution reactions
Recovery
Formulation
Nonholonomic Constraints
Kinematic Analysis
Multibody Systems
Substitution
Demonstrate

Keywords

  • Algorithm
  • Degeneracy
  • Dynamics
  • Formulation
  • Generalized inverse
  • Inconsistency
  • Kinematics
  • Redundancy

ASJC Scopus subject areas

  • Computational Mechanics
  • Mechanics of Materials

Cite this

An Improved Formulation for Constrained Mechanical Systems. / Arabyan, Ara -; Wu, Fei.

In: Multibody System Dynamics, Vol. 2, No. 1, 1998, p. 49-69.

Research output: Contribution to journalArticle

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