The Moore-Penrose Inverse Approach to Modeling of Multibody Systems with Redundant Constraints

Marek Wojtyra

Abstract

Applications of the Moore-Penrose inverse in modeling of overconstrained rigid multibody systems represented by index-1 DAEs are investigated. The problem of joint reaction as well as acceleration solution is examined – the uniqueness of accelerations and non-uniqueness of reactions is addressed. The problem of dependency of results on physical units selection is investigated. It is discussed which parts of the solution are and which are not physically equivalent after the change of units. A simple illustrative example is provided. Brief conclusions are formulated.
Author Marek Wojtyra (FPAE / IAAM)
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
Pages3087-3096
Publication size in sheets0.5
Article number304
Book Uhl Tadeusz (eds.): Advances in Mechanism and Machine Science, 2019, ISBN 978-3-030-20130-2, [978-3-030-20131-9]
Keywords in EnglishStatic friction, Solution uniqueness, Parametric sensitivity, Redundant constraints
Keywords in original languageStatic friction, Solution uniqueness, Parametric sensitivity, Redundant constraints
Abstract in original languageApplications of the Moore-Penrose inverse in modeling of overconstrained rigid multibody systems represented by index-1 DAEs are investigated. The problem of joint reaction as well as acceleration solution is examined – the uniqueness of accelerations and non-uniqueness of reactions is addressed. The problem of dependency of results on physical units selection is investigated. It is discussed which parts of the solution are and which are not physically equivalent after the change of units. A simple illustrative example is provided. Brief conclusions are formulated.
DOIDOI:10.1007/978-3-030-20131-9_304
URL https://link.springer.com/chapter/10.1007%2F978-3-030-20131-9_304
Languageen angielski
Score (nominal)15
ScoreMinisterial score = 15.0, 18-07-2019, ChapterFromConference
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