### Abstract

For mechanical systems that undergo intermittent motion, the usual formulation of the equations of motion is not valid over the periods of discontinuity, and a procedure for balancing the momenta of these systems is often performed. A canonical form of the equations of motion is used here as the differential equations of motion. A set of momentum balance-impulse equations is derived in terms of a system total momenta by explicitly integrating the canonical equations. The method is stable when the canonical equations are numerically integrated and it is efficient when the derived momentum balance-impulse equations are solved. The method shows that the constraint violation phenomenon, which is usually caused by the numerical integration error, can be substantially reduced as compared to the numerical integration of the standard Newtonian form of equations of motion. Examples are provided to illustrate the validity of the method.

Original language | English (US) |
---|---|

Pages (from-to) | 180-186 |

Number of pages | 7 |

Journal | Journal of Mechanical Design - Transactions of the ASME |

Volume | 114 |

Issue number | 1 |

State | Published - Mar 1992 |

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### ASJC Scopus subject areas

- Engineering(all)

### Cite this

*Journal of Mechanical Design - Transactions of the ASME*,

*114*(1), 180-186.

**Canonical impulse-momentum equations for impact analysis of multibody systems.** / Lankarani, H. M.; Nikravesh, Parviz E.

Research output: Contribution to journal › Article

*Journal of Mechanical Design - Transactions of the ASME*, vol. 114, no. 1, pp. 180-186.

}

TY - JOUR

T1 - Canonical impulse-momentum equations for impact analysis of multibody systems

AU - Lankarani, H. M.

AU - Nikravesh, Parviz E

PY - 1992/3

Y1 - 1992/3

N2 - For mechanical systems that undergo intermittent motion, the usual formulation of the equations of motion is not valid over the periods of discontinuity, and a procedure for balancing the momenta of these systems is often performed. A canonical form of the equations of motion is used here as the differential equations of motion. A set of momentum balance-impulse equations is derived in terms of a system total momenta by explicitly integrating the canonical equations. The method is stable when the canonical equations are numerically integrated and it is efficient when the derived momentum balance-impulse equations are solved. The method shows that the constraint violation phenomenon, which is usually caused by the numerical integration error, can be substantially reduced as compared to the numerical integration of the standard Newtonian form of equations of motion. Examples are provided to illustrate the validity of the method.

AB - For mechanical systems that undergo intermittent motion, the usual formulation of the equations of motion is not valid over the periods of discontinuity, and a procedure for balancing the momenta of these systems is often performed. A canonical form of the equations of motion is used here as the differential equations of motion. A set of momentum balance-impulse equations is derived in terms of a system total momenta by explicitly integrating the canonical equations. The method is stable when the canonical equations are numerically integrated and it is efficient when the derived momentum balance-impulse equations are solved. The method shows that the constraint violation phenomenon, which is usually caused by the numerical integration error, can be substantially reduced as compared to the numerical integration of the standard Newtonian form of equations of motion. Examples are provided to illustrate the validity of the method.

UR - http://www.scopus.com/inward/record.url?scp=0026829746&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0026829746&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0026829746

VL - 114

SP - 180

EP - 186

JO - Journal of Mechanical Design - Transactions of the ASME

JF - Journal of Mechanical Design - Transactions of the ASME

SN - 0738-0666

IS - 1

ER -