Dynamics of spatial structure-varying rigid multibody systems
作者： M. Wösle , F. Pfeiffer
关键词: Lagrange multiplier 、 Linear complementarity problem 、 Scleronomous 、 Dynamical system 、 Mathematics 、 Classical mechanics 、 Equations of motion 、 Contact mechanics 、 Contact force 、 Kinematics
摘要: Couplings in machines and mechanisms exhibiting backlash friction phenomena can be modeled as multibody systems with unilateral constraints Coulomb friction. The structure of the differential-algebraic equations describing system depends on state constraints. contact forces occurring at active are taken into account motion Lagrange multipliers. Additionally, kinematic conditions all formulated acceleration level. Contact laws sufficient for transitions constraints, represented by nonsmooth characteristics. Several formulations, like linear complementarity problem, two different nonlinear presented together their solution method. theory is applied to a mechanical containing three-dimensional coupled
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