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Explicit Equations of Motion for Constrained Mechanical Systems with Singular Mass Matrices and Applications to Multi-Body Dynamics

Firdaus E. Udwadia and Phailaung Phohomsiri
Proceedings: Mathematical, Physical and Engineering Sciences
Vol. 462, No. 2071 (Jul. 8, 2006), pp. 2097-2117
Published by: Royal Society
Stable URL: http://www.jstor.org/stable/20208995
Page Count: 21
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Since scans are not currently available to screen readers, please contact JSTOR User Support for access. We'll provide a PDF copy for your screen reader.
Explicit Equations of Motion for Constrained Mechanical Systems with Singular Mass Matrices and Applications to Multi-Body Dynamics
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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.

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