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Equations of motion for constrained systems

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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.
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

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