Canonical impulse-momentum equations for impact analysis of multibody systems

H. M. Lankarani, Parviz E Nikravesh

Research output: Contribution to journalArticle

25 Citations (Scopus)

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 languageEnglish (US)
Pages (from-to)180-186
Number of pages7
JournalJournal of Mechanical Design - Transactions of the ASME
Volume114
Issue number1
StatePublished - Mar 1992

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Equations of motion
Momentum
Differential equations

ASJC Scopus subject areas

  • Engineering(all)

Cite this

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

In: Journal of Mechanical Design - Transactions of the ASME, Vol. 114, No. 1, 03.1992, p. 180-186.

Research output: Contribution to journalArticle

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