Uniqueness of reactions in multibody systems with redundant Pfaffian constraints
Marek Wojtyra , Janusz Frączek
AbstractDynamic analysis of a multibody system is often focused on studying motion resulting from loads applied to the system. When redundant constraint equations are present in the mathematical model of the system, some or all constraints reactions cannot be uniquely determined. In this contribution redundantly constrained nonholonomic systems are discussed and a new method of finding kinematic pairs with unique reaction solution is proposed. The method utilizes the kernel of transposed constraint matrix.
|Publication size in sheets||0.3|
|Book||Kochanek A., Kądziołka T., Kowalski S. (eds.): 25th International Conference on Theory of Machines and Mechatronic Systems. Modern Trends in Theory of Machines and Mechatronic Systems, 2016, ISBN 978-83-936009-3-9|
|Keywords in English||redundant constraints, nonholonomic systems, constraint reactions|
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