Multibody Dynamics: A Formulation Using Kane’s Method and Dual Vectors

[+] Author and Article Information
S. K. Agrawal

Department of Mechanical Engineering, Ohio University, Athens, OH 45701–2979

J. Mech. Des 115(4), 833-838 (Dec 01, 1993) (6 pages) doi:10.1115/1.2919276 History: Received March 01, 1988; Online June 02, 2008


This paper proposes a formulation based on Kane’s method to form the dynamic equations of motion of multibody systems using dual vectors. Both holonomic and nonholonomic systems are considered in this formulation. An example of a holonomic and a nonholonomic system is worked out in detail using this formulation. This algorithm is shown to be advantageous for a class of holonomic systems which has cylindrical joints.

Copyright © 1993 by The American Society of Mechanical Engineers
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