Multibody System Dynamics with Constraints: The 'Closed Loop' Problem.

Abstract

The governing equations for constrained multibody systems are formulated in a manner suitable for their automated, numerical development and solution. Specifically, the 'closed loop' problem of multibody chain systems is addressed. The governing equations are developed by modifiying dynamical equations obtained for Lagrange's form of d'Alembert's principle. This modification, which is based upon a solution of the constraint equations obtained through a 'zero eigenvalues theorem,' is, in effect, a contraction of the dynamical equations. It is observed that, for a system with n generalized coordinates and m constraint equations, the coefficients in the constraint equations may be viewed as 'constraint vectors' in n-dimensional space. Then, in this setting the system itself is free to move in the n-m directions which are 'orthogonal' to the constraint vectors. (Author)

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1981
Accession Number
ADA103081

Entities

People

  • James W. Kamman
  • Ronald L. Huston

Organizations

  • University of Cincinnati

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Angular Acceleration
  • Coefficients
  • Coordinate Systems
  • Differential Equations
  • Dynamics
  • Eigenvalues
  • Eigenvectors
  • Engineering
  • Equations
  • Equations Of Motion
  • Human Body
  • Industrial Engineering
  • Military Research
  • Orientation (Direction)
  • Pendulums

Readers

  • Calculus or Mathematical Analysis
  • Control Systems Engineering.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers