Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics

By Firdaus E. Udwadia, Phailaung Phohomsiri. Proceedings of the Royal Society A, 2006

155 citations recorded by the source corpus.

We present the new, general, explicit form of the equations of motion for constrained mechanical systems applicable to systems with singular mass matrices. The systems may have holonomic and/or non-holonomic constraints, which may or may not satisfy D'Alembert's principle at each instant of time. The equation provides new insights into the behaviour of constrained motion and opens up new ways of modelling complex multi-body systems. Examples are provided and applications of the equation to such systems are illustrated.

Subfields: Control and Systems Engineering, Mechanics of Materials, Numerical Analysis

View Paper: https://www.semanticscholar.org/paper/89dae7342e59ff1e16eb7a19916e71dd7df2b8d1

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In Control and Systems Engineering

In Mechanics of Materials

In Numerical Analysis

Citations in the corpus

On the constraints violation in forward dynamics of multibody systems (2017, methodology): “Alternative approaches to deal with these issues have already been addressed in the literature [32, 39, 42, 90, 136-139].”