A New Approach to Eliminate the Constraints Violation at the Position and Velocity Levels in Constrained Mechanical Multibody Systems

摘要: In this work, a general and comprehensive methodology to eliminate the constraints violation at position velocity levels is presented. This new approach derived under framework of multibody dynamics formulation The basic idea add corrective terms vectors with intent satisfy corresponding kinematic constraint equations. These are evaluated as function Moore-Penrose generalized inverse Jacobian matrix A planar four bar mechanism used demonstrative example application, which allows show effectiveness presented method.