Abstract
Based on the developments in Ch. 10, the unreduced dynamical equations are reformulated in terms of relative motion across the primary joints. The result is a set of unreduced system equations which still contain the constraint forces and torques. Projecting those equations onto the free modes of motion they are reduced to state space form. Projecting them onto the constrained modes yields the unknown generalized constraint forces. These processes are given separately for systems with tree configurations and for those with closed kinematic chains.
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References
Wittenburg, J., “Analytical methods in mechanical system dynamics”, in Computer Aided Analysis and Optimization of Mechanical System Dynamics, E.J. Haug (ed.), Springer-Verlag, Berlin, 1984, pp.89–127.
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© 1988 Springer-Verlag Berlin Heidelberg
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Roberson, R.E., Schwertassek, R. (1988). Dynamics. In: Dynamics of Multibody Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-86464-3_11
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DOI: https://doi.org/10.1007/978-3-642-86464-3_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-86466-7
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