On MBS Constraints and Projections
Keyword(s):
Abstract Constraints in multibody systems are usually treated by a Lagrange I - method resulting in equations of motion together with the constraint forces. Going from non-minimal coordinates to minimal ones opens the possibility to project the original equations directly to the minimal ones, thus eliminating the constraint forces. The necessary procedure is described, a general example of combined machine-process dynamics discussed and a specific example given. For a n-link robot tracking a path the equations of motion are projected onto this path resulting in quadratic form linear differential equations. They define the space of allowed motion, which is generated by a polygon-system.
2010 ◽
Vol 34
(1)
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pp. 37-55
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Keyword(s):
2016 ◽
Vol 823
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pp. 49-54
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Keyword(s):
2016 ◽
Vol 17
(1)
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