On the Constraint Violations in the Dynamic Simulations of Multibody Systems

[+] Author and Article Information
S. K. Ider, F. M. L. Amirouche

Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680

J. Dyn. Sys., Meas., Control 111(2), 238-243 (Jun 01, 1989) (6 pages) doi:10.1115/1.3153042 History: Received March 01, 1987; Online July 21, 2009


This paper presents an automated and efficient mathematical model for checking the violations of the constraints in the dynamics of multibody systems. The superfluous generalized independent speeds are obtained through a new transformation matrix called a pseudo-uptriangular decomposition (PUTD). The violation of the constraints is checked using a test condition between the generalized speeds and the independent speeds. A decision is then made to whether the transformation matrix needs to be regenerated. The method presented has a number of advantages over previously developed methods, since it requires less computational time and is suited for a large class of problems. It is believed that the use of Kane’s equations as presented in this paper make the analysis of constrained multibody systems even more tractable. Some examples used for the verification of the procedure are presented.

Copyright © 1989 by ASME
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