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Simulation of Multibody Systems with Nonholonomic Constraints
Author(s) -
Kielau G.,
Maißer P.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310051
Subject(s) - nonholonomic system , multibody system , equations of motion , surface (topology) , motion (physics) , mathematics , computer science , classical mechanics , geometry , physics , robot , artificial intelligence , mobile robot
The paper deals with the nonholonomic multibody system dynamics from a point of view resulting from some present applications in high‐tec areas like high‐speed train technology or biomechanics of some disciplines in high‐performance sports. A formulation of nonholonomic constraints which are linear related to generalized velocities is based on a derivative‐free approach for generating Lagrangian motion equations of multibody systems with kinematical tree structure as well as for constrained multibody systems. This has been done by using di.erential‐geometric concepts in a Riemannian space. The ideas are illustrated by the classical edge condition on double‐curved surfaces. The surfaces are described by C 2 ‐vector functions, for example by NURBS‐approximation. As an example a bobsleigh is regarded moving on a double‐curved surface.