A Formulation of the Differential Equation on the Equations of Motion and Dynamic Analysis for the Constrained Multibody Systems

구속된 다물체 시스템에 대한 운동 방정식의 미분 방정식화 및 동역학 해석

  • 이동찬 (고등기술연구원 자동차기술연구실) ;
  • 이상호 (정회원, 한양대학교 정밀기계공학과 대학원) ;
  • 한창수 (정회원, 한양대학교 기계공학과)
  • Published : 1997.01.01


This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.


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