Explicit dynamical equations for constrained and unconstrained planar multi-rigid-body systems
✍ Scribed by Ya Wang; Ronald L. Huston
- Publisher
- Springer
- Year
- 1993
- Tongue
- English
- Weight
- 676 KB
- Volume
- 12
- Category
- Article
- ISSN
- 0178-7675
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✦ Synopsis
This paper presents general dynamical equations for constrained and unconstrained planar multi-rigid-body systems. Explicit expressions for the coefficients of these equations are developed using Kane's method together with procedures developed by Huston et al. Lagrange multipliers are employed to accommodate the constraints, which may be either geometrical or kinematical. A FORTRAN subroutine to numerically generate the coefficients is also presented. Finally, a test example problem is presented and the results (that is, accuracy and run time) are compared with those obtained using other analysis procedures.