Solvability of reactions in rigid multibody systems with redundant nonholonomic constraints

摘要: The problem of calculating joint reaction forces in rigid body mechanisms with redundant constraints, both geometric and nonholonomic, is discussed. When constraint equations are dependent, some the reactions unsolvable, i.e., cannot be uniquely determined using a model, whereas others may solvable. In this paper, analytic conditions, which must fulfilled to obtain unique values selected presence dependent nonholonomic presented proven. concept direct sum, known from linear algebra, exploited. These purely mathematical conditions followed by numerical methods that enable detection constraints solvable reactions. Similar were proposed earlier for holonomic systems. contribution, they generalized case constraints. An example solvability analysis, mechanism subjected presented.