Solvability of reactions in rigid multibody systems with redundant nonholonomic constraints

Marek Wojtyra , Janusz Frączek


The problem of calculating joint reaction forces in rigid body mechanisms with redundant constraints, both geometric and nonholonomic, is discussed. When constraint equations are dependent, some of the constraint reactions are unsolvable, i.e., cannot be uniquely determined using a rigid body model, whereas some others may be solvable. In this paper, analytic conditions, which must be fulfilled to obtain unique values of selected reaction forces in the presence of dependent nonholonomic constraints, are presented and proven. The concept of direct sum, known from linear algebra, is exploited. These purely mathematical conditions are followed by numerical methods that enable detection of constraints with uniquely solvable reactions. Similar conditions and methods were proposed earlier for holonomic systems. In this contribution, they are generalized to the case of linear nonholonomic constraints. An example of constraint reactions solvability analysis, for a mechanism subjected to redundant nonholonomic constraints, is presented.
Author Marek Wojtyra (FPAE / IAAM)
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
, Janusz Frączek (FPAE / IAAM)
Janusz Frączek,,
- The Institute of Aeronautics and Applied Mechanics
Journal seriesMultibody System Dynamics, ISSN 1384-5640, []
Issue year2013
Publication size in sheets0.9
Keywords in EnglishConstraint reactions; Nonholonomic systems; Redundant constraints
ASJC Classification2606 Control and Optimization; 1706 Computer Science Applications; 2210 Mechanical Engineering; 2202 Aerospace Engineering; 2611 Modelling and Simulation
Languageen angielski
Score (nominal)35
Score sourcejournalList
ScoreMinisterial score = 35.0, 06-07-2020, ArticleFromJournal
Ministerial score (2013-2016) = 35.0, 06-07-2020, ArticleFromJournal
Publication indicators WoS Citations = 17; Scopus Citations = 19; GS Citations = 22.0; Scopus SNIP (Source Normalised Impact per Paper): 2013 = 2.723; WoS Impact Factor: 2013 = 1.747 (2) - 2013=1.874 (5)
Citation count*22 (2020-08-22)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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