MULTIBODY DYNAMICS - A FORMULATION USING KANE METHOD AND DUAL VECTORS

被引：12

作者：

AGRAWAL, SK

机构：

[1] Department of Mechanical Engineering, Ohio University, Athens, OH

来源：

JOURNAL OF MECHANICAL DESIGN | 1993年 / 115卷 / 04期

关键词：

D O I：

10.1115/1.2919276

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper proposes a formulation based on Kane's method to form the dynamic equations of motion of multibody systems using dual vectors. Both holonomic and nonholonomic systems are considered in this formulation. An example of a holonomic and a nonholonomic system is worked out in detail using this formulation. This algorithm is shown to be advantageous for a class of holonomic systems which has cylindrical joints.

引用

页码：833 / 838

页数：6

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