Abstract
Kinetic equations of multibody systems with scleronomic constraints are projected along the feasible and unfeasible directions of the constraints respectively, and generalized accelerations of the systems are decomposed along the two directions using the bases of constraint matrix and its orthocomplement. Pure differential equations of the systems and formulae to solve the constrained forces are thus obtained. A method to correct violation of constraints is simultaneously advanced. Finally, an illustrative example is presented.
| Original language | English |
|---|---|
| Pages (from-to) | 239-244 |
| Number of pages | 6 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 16 |
| Issue number | 3 |
| Publication status | Published - 1996 |
Keywords
- Acceleration decomposition
- Constrained force
- Kinetic analysis
- Multibody system
- Orthocomplement
- Projection
- Scleronomic constraint