A method for solving constraint forces of multi-rigid-body systems with moving slot

被引：0

作者：

Peng, Huilian ^{[1
]}

Wang, Shimin ^{[1
]}

Wang, Qi ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sch Sci, Beijing 100083, Peoples R China

来源：

DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS | 2007年 / 14卷

关键词：

D O I：

暂无

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

In the equations of multi-body systems expressed by the first kind of Lagrange's equations, constraint forces can be shown as linear functions of the Lagrange multipliers. An approach to solve constraint forces of multi-body systems with moving slot is presented by means of Cartesian coordinates and partial approach of constraint equations. The normal constraint forces of moving slot and the components of each joint reaction force in inertia coordinate system are related to Lagrange multipliers one-to-one, so that the constraint forces are solved. A numerical example is used to demonstrate the method and its effectiveness.

引用

页码：227 / 232

页数：6

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