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On the equations of motion in multibody dynamics

Lidström, Per LU (2012) In Mathematics and Mechanics of Solids 17(2). p.165-205
Abstract
The equations of motion for a multibody system are derived from a continuum mechanical point of view. This will allow for the presence of rigid, as well as deformable, parts in the multibody system. The approach, using the principle of virtual power, leads to the classical Lagrange equations of motion. The generalized forces appearing in the equations are given as expressions involving contact, internal and body forces in the sense of continuum mechanics. A detailed analysis of the interaction between parts and their implication for the equations of motion is presented. Transformation properties, covariance and invariance under changes of configuration coordinates, are elucidated and a power theorem for the multibody system is proved. The... (More)
The equations of motion for a multibody system are derived from a continuum mechanical point of view. This will allow for the presence of rigid, as well as deformable, parts in the multibody system. The approach, using the principle of virtual power, leads to the classical Lagrange equations of motion. The generalized forces appearing in the equations are given as expressions involving contact, internal and body forces in the sense of continuum mechanics. A detailed analysis of the interaction between parts and their implication for the equations of motion is presented. Transformation properties, covariance and invariance under changes of configuration coordinates, are elucidated and a power theorem for the multibody system is proved. The equivalence between the standard balance equations for momentum and moment of momentum and the principle of virtual power is demonstrated. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
multibody dynamics, mechanical interactions, equations of motion
in
Mathematics and Mechanics of Solids
volume
17
issue
2
pages
165 - 205
publisher
SAGE Publications Inc.
external identifiers
  • wos:000301801600005
  • scopus:84858839862
ISSN
1741-3028
DOI
10.1177/1081286511407797
language
English
LU publication?
yes
id
fce9a6e2-e636-442d-9bf3-54d9795d2f0a (old id 2510287)
date added to LUP
2012-06-04 13:30:44
date last changed
2017-08-20 03:05:10
@article{fce9a6e2-e636-442d-9bf3-54d9795d2f0a,
  abstract     = {The equations of motion for a multibody system are derived from a continuum mechanical point of view. This will allow for the presence of rigid, as well as deformable, parts in the multibody system. The approach, using the principle of virtual power, leads to the classical Lagrange equations of motion. The generalized forces appearing in the equations are given as expressions involving contact, internal and body forces in the sense of continuum mechanics. A detailed analysis of the interaction between parts and their implication for the equations of motion is presented. Transformation properties, covariance and invariance under changes of configuration coordinates, are elucidated and a power theorem for the multibody system is proved. The equivalence between the standard balance equations for momentum and moment of momentum and the principle of virtual power is demonstrated.},
  author       = {Lidström, Per},
  issn         = {1741-3028},
  keyword      = {multibody dynamics,mechanical interactions,equations of motion},
  language     = {eng},
  number       = {2},
  pages        = {165--205},
  publisher    = {SAGE Publications Inc.},
  series       = {Mathematics and Mechanics of Solids},
  title        = {On the equations of motion in multibody dynamics},
  url          = {http://dx.doi.org/10.1177/1081286511407797},
  volume       = {17},
  year         = {2012},
}