An index 0 differential-algebraic equation formulation for multibody dynamics: Nonholonomic constraints
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Edward J. Haug [1]
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[1] University of Iowa
University of Iowa
City of Iowa City, Estados Unidos
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- Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 46, Nº. 1, 2018, págs. 38-65
- Idioma: inglés
- Texto completo no disponible (Saber más ...)
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Resumen
A method is presented for formulating and numerically integrating index 0 differential-algebraic equations of motion for multibody systems with holonomic and nonholonomic constraints. Tangent space coordinates are defined in configuration and velocity spaces as independent generalized coordinates that serve as state variables in the formulation. Orthogonal dependent coordinates and velocities are used to enforce position, velocity, and acceleration constraints to within specified error tolerances. Explicit and implicit numerical integration algorithms are presented and used in solution of three examples: one planar and two spatial. Numerical results verify that accurate results are obtained, satisfying all three forms of kinematic constraint to within error tolerances embedded in the formulation.
