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

Author:

Udwadia Firdaus E1,Phohomsiri Phailaung2

Affiliation:

1. Civil Engineering, Aerospace and Mechanical Engineering, Mathematics, and Information and Operations Management, University of Southern CaliforniaLos Angeles, CA 90089, USA

2. Department of Aerospace and Mechanical Engineering, University of Southern CaliforniaLos Angeles, CA 90089, USA

Abstract

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.

Publisher

The Royal Society

Subject

General Physics and Astronomy,General Engineering,General Mathematics

Reference11 articles.

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4. On the Fundamental Formulae of Dynamics

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