On the equations of motion in constrained multibody dynamics
(2012) In Mathematics and Mechanics of Solids 17(3). p.209-242- Abstract
- The equations of motion for a constrained 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 together with kinematical constraints. The approach leads to the classical Lagrange-d'Alembert equations of motion under constraint conditions. The generalized forces appearing in the equations of motion are given as expressions involving contact, internal and body forces in the sense of continuum mechanics. A detailed analysis of physical constraint conditions and their implication for the equations of motion is presented. A precise distinction is made between constraints on the motion on the one hand and resistance to the motion on... (More)
- The equations of motion for a constrained 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 together with kinematical constraints. The approach leads to the classical Lagrange-d'Alembert equations of motion under constraint conditions. The generalized forces appearing in the equations of motion are given as expressions involving contact, internal and body forces in the sense of continuum mechanics. A detailed analysis of physical constraint conditions and their implication for the equations of motion is presented. A precise distinction is made between constraints on the motion on the one hand and resistance to the motion on the other. Transformation properties - covariance and invariance under changes of configuration coordinates - are elucidated. The elimination and calculation of the so-called Lagrangian multipliers is discussed and some useful reformulations of the equations of motion are presented. Finally a Power theorem for the constrained multibody system is proved. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2551734
- author
- Lidström, Per LU
- organization
- publishing date
- 2012
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- constraints, equations of motion, multibody dynamics
- in
- Mathematics and Mechanics of Solids
- volume
- 17
- issue
- 3
- pages
- 209 - 242
- publisher
- SAGE Publications
- external identifiers
-
- wos:000303650900001
- scopus:84860737849
- ISSN
- 1741-3028
- DOI
- 10.1177/1081286511407111
- language
- English
- LU publication?
- yes
- id
- 868e5299-a77a-4a41-b83d-9779840f7ab1 (old id 2551734)
- date added to LUP
- 2016-04-01 10:42:56
- date last changed
- 2022-01-26 01:47:11
@article{868e5299-a77a-4a41-b83d-9779840f7ab1,
abstract = {{The equations of motion for a constrained 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 together with kinematical constraints. The approach leads to the classical Lagrange-d'Alembert equations of motion under constraint conditions. The generalized forces appearing in the equations of motion are given as expressions involving contact, internal and body forces in the sense of continuum mechanics. A detailed analysis of physical constraint conditions and their implication for the equations of motion is presented. A precise distinction is made between constraints on the motion on the one hand and resistance to the motion on the other. Transformation properties - covariance and invariance under changes of configuration coordinates - are elucidated. The elimination and calculation of the so-called Lagrangian multipliers is discussed and some useful reformulations of the equations of motion are presented. Finally a Power theorem for the constrained multibody system is proved.}},
author = {{Lidström, Per}},
issn = {{1741-3028}},
keywords = {{constraints; equations of motion; multibody dynamics}},
language = {{eng}},
number = {{3}},
pages = {{209--242}},
publisher = {{SAGE Publications}},
series = {{Mathematics and Mechanics of Solids}},
title = {{On the equations of motion in constrained multibody dynamics}},
url = {{http://dx.doi.org/10.1177/1081286511407111}},
doi = {{10.1177/1081286511407111}},
volume = {{17}},
year = {{2012}},
}