An Improved Formulation for Constrained Mechanical Systems

摘要: This paper presents an investigation of the advantages a new formulation in study mechanical systems with holonomic and nonholonomic constraints. The formulation, originally proposed for constrained particles, provides efficient robust means simulating general multibody presence redundant, degenerate intermittent structure also allows use dynamics code pure kinematics analysis simple substitution. In addition, separates applied constraint forces explicitly allowing recovery by straightforward means. Several examples are given to demonstrate effectiveness special circumstances.