Abstract
Multibody systems are characterized by two distinguishing features: system components undergo finite relative rotations and these components are connected by mechanical joints that impose restrictions on their relative motion. Finite rotations introduce geometric nonlinearities, hence, multibody systems are inherently nonlinear. Mechanical joints, such as the lower pair joints presented in section 10.4, result in algebraic constraints leading to a set of governing equations that combines differential and algebraic equations.
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© 2011 Springer Science+Business Media B.V.
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Bauchau, O.A. (2011). Constrained systems: advanced formulations. In: Flexible Multibody Dynamics. Solid Mechanics and Its Applications, vol 176. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-0335-3_11
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DOI: https://doi.org/10.1007/978-94-007-0335-3_11
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Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-0334-6
Online ISBN: 978-94-007-0335-3
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