Toward a New Modeling Paradigm for Constrained Mechanical Systems

[+] Author and Article Information
T. M. Hodges

Mechanical Engineering Department, Virginia Military Institute, Lexington, VA 24450

P. N. Sheth

Mechanical and Aerospace Engineering, School of Engineering and Applied Science, University of Virginia, Charlottesville, VA 22901

J. Mech. Des 116(1), 80-87 (Mar 01, 1994) (8 pages) doi:10.1115/1.2919381 History: Received March 01, 1990; Online June 02, 2008


The motivational background and a comprehensive modeling framework for incorporating localized design details of joints in the overall multibody models are described in this paper. A direct contact model of two bodies in contact is utilized as a basic building block to develop spatial kinematic analysis procedures based on matrix analysis. A substructure partitioning method for large, detailed models and the concept of local Jacobians for localized joint models is introduced. The nonholonomic constraints are directly incorporated in the matrix method, with the special case of rolling without slipping described in this paper. The coordinate partitioning process is shown to play a fundamental role in the simulation algorithms. The developments reported in this paper represent initial steps toward a comprehensive modeling paradigm for multibody systems with a focus on the localized details of contacts between the bodies.

Copyright © 1994 by The American Society of Mechanical Engineers
Topics: Modeling
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