Abstract
The most common analysis assumes that a motion restriction enforces some coordinates to remain at rest, with no displacement. This non-displacement assumption means a lack of work in the restricted direction, known as the virtual work principle, which can be stated as follows:
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Holonomy means integrable in the sense of Frobenius, and a constraint is said to be holonomic if the constraint is involutive. Otherwise the constraint is non-holonomic. Refer to Sect. 2.2.
- 2.
The elements \(M_{0_{ij}}\) of \(M_0\), being too complex to be expressed in a simple way, are left out of this example. However they can be verified with the use of any symbolic calculation program.
- 3.
This is a strong assumption since in the castor wheel the contact point is not constant. This is eccentric so the very same contact friction produces the necessary moment so the wheel is naturally oriented to the desired motion.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Olguín Díaz, E. (2019). Model Reduction Under Motion Constraint. In: 3D Motion of Rigid Bodies. Studies in Systems, Decision and Control, vol 191. Springer, Cham. https://doi.org/10.1007/978-3-030-04275-2_8
Download citation
DOI: https://doi.org/10.1007/978-3-030-04275-2_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-04274-5
Online ISBN: 978-3-030-04275-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)