Determination of constraint forces in multibody systems dynamics using Kane's equations
Abstract
An effective method used to determine the generalized constraint forces when a multibody system is subject to holonomic and simple nonholonomic constraints is presented. The method employed used Kane's equations as developed by Huston et al. together with the undetermined multipliers. First, an orthogonal matrix is used to eliminate the generalizd constraint forces and hence reduce the governing equations to a set of nm degrees of freedom (where n represents the number of generalized coordinates and m denotes the number of constraint equations). Second, the constraint forces are found using an inverse force analysis technique. The method is formulated for implementation on computer aided design systems to simulate the restraining forces and torques of a multibody system during motion. An illustration of the method is presented through an example.
 Publication:

Journal de Mecanique Theorique et Appliquee
 Pub Date:
 1988
 Bibcode:
 1988JMecT...7....3A
 Keywords:

 Biodynamics;
 Body Kinematics;
 Constraints;
 Dynamical Systems;
 Robotics;
 Angular Acceleration;
 Angular Velocity;
 Computer Aided Design;
 Equations Of Motion;
 Nonholonomic Equations;
 Physics (General)