Multibody Systems With Loops: A Pseudo-Constraint Approach

[+] Author and Article Information
J.-C. Samin, P.-Y. Willems

Département de Mécanique, Université Catholique de Louvain, Louvain-la-Neuve, Belgium

J. Dyn. Sys., Meas., Control 115(1), 208-213 (Mar 01, 1993) (6 pages) doi:10.1115/1.2897402 History: Received March 01, 1989; Revised September 01, 1992; Online March 17, 2008


The paper presents an original approach for solving kinematical problems related to constraints, in particular those appearing in multibody systems with loops. This approach uses linear combinations of the time derivatives of the constraints in order to construct a pseudo-gradient which can be computed from straightforward kinematical considerations. Moreover, this method permits avoiding numerical convergence toward undesired solutions.

Copyright © 1993 by The American Society of Mechanical Engineers
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