NDLI: A Geometric Derivation of the Equations of Motion for Mechanical Systems With Scleronomic Constraints

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Natsiavas, Sotirios Paraskevopoulos, Elias
Copyright Year	2015
Abstract	A new set of equations of motion is presented for a class of mechanical systems subjected to equality motion constraints. Specifically, the systems examined satisfy a set of holonomic and/or nonholonomic scleronomic constraints. The main idea is to consider the equations describing the action of the constraints as an integral part of the overall process leading to the equations of motion. The constraints are incorporated one by one, in a process analogous to that used for setting up the equations of motion. This proves to be equivalent to assigning appropriate inertia, damping and stiffness properties to each constraint equation and leads to a system of second order ordinary differential equations for both the coordinates and the Lagrange multipliers associated to the motion constraints automatically. This brings considerable advantages, avoiding problems related to systems of differential-algebraic equations or penalty formulations. Apart from its theoretical value, this set of equations is well-suited for developing new robust and accurate numerical methods.
Sponsorship	Design Engineering Division Computers and Information in Engineering Division
File Format	PDF
ISBN	9780791857168
DOI	10.1115/DETC2015-46618
Volume Number	Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Conference Proceedings	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2015-08-02
Publisher Place	Boston, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Damping Algebra Inertia (mechanics) Numerical analysis Differential equations Stiffness Equations of motion
Content Type	Text
Resource Type	Article

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