Publicação
Equations of motion for constrained systems
| Resumo: | In this chapter, the formulation of motion’s equations of multi-rigid body systems is described. The generalized coordinates are the centroidal Cartesian coordinates, being the system configuration restrained by constraint equations. The present formulation uses the Newton-Euler’s equations of motion, which are augmented with the constraint equations that lead to a system of differential algebraic equations. This formulation is straightforward in terms of assembling the equations of motion and providing all reaction forces. |
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| Autores principais: | Flores, Paulo |
| Assunto: | Equations of motion Newton-Euler formulation Spatial systems Engenharia e Tecnologia::Engenharia Mecânica |
| Ano: | 2015 |
| País: | Portugal |
| Tipo de documento: | capítulo de livro |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | In this chapter, the formulation of motion’s equations of multi-rigid body systems is described. The generalized coordinates are the centroidal Cartesian coordinates, being the system configuration restrained by constraint equations. The present formulation uses the Newton-Euler’s equations of motion, which are augmented with the constraint equations that lead to a system of differential algebraic equations. This formulation is straightforward in terms of assembling the equations of motion and providing all reaction forces. |
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