标题：Constraint Reaction Forces and Lagrange Multipliers in Multi-Body Systems
作者：Yao, Wenli; Ren, Yongsheng
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
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.