标题:Constraint Reaction Forces and Lagrange Multipliers in Multi-Body Systems
作者:Yao, Wenli; Ren, Yongsheng
通讯作者:Yao, W
作者机构:[Yao, Wenli] Qingdao Technol Univ, Coll Sci, Qingdao, Peoples R China.; [Ren, Yongsheng] Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingda 更多
会议名称:International Conference on Manufacturing Science and Engineering (ICMSE 2009)
会议日期:DEC 26-28, 2009
来源:MANUFACTURING SCIENCE AND ENGINEERING, PTS 1-5
出版年:2010
卷:97-101
页码:2824-2827
DOI:10.4028/www.scientific.net/AMR.97-101.2824
关键词:Lagrange multiplier; constraint reaction force; multi-body system
摘要:The study performs the relation between the Lagrange multipliers and the constraint reaction forces in the multi-body systems. It helps to establish a simple and effective method to deal with the non-smooth factors including friction, contact and collision in multi-body systems. First, a general expression calculating the ideal constraint reaction forces is described by a form of complete Cartesian reference coordinate in a discrete dynamical system. Then, an explicit expression is given in the form of independent general generalized coordinates for a multi-body system. A condition under which the constraint reaction forces can be one-to-one corresponding to Lagrange multipliers is discussed. An example is used to demonstrate the process to realize the condition and the effectiveness of this method.
收录类别:CPCI-S;EI
资源类型:会议论文
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