An Orthogonal Complement Matrix Formulation for Constrained Multibody Systems

[+] Author and Article Information
W. Blajer

Department of Mechanics, Technical University of Radom, ul. Malczewskiego 29, 26-600 Radom, Poland

D. Bestle, W. Schiehlen

Institute B of Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70550 Stuttgart 80, Germany

J. Mech. Des 116(2), 423-428 (Jun 01, 1994) (6 pages) doi:10.1115/1.2919396 History: Received April 01, 1991; Revised December 01, 1992; Online June 02, 2008


A method is proposed for the automatic generation of an orthogonal complement matrix to the constraint matrix for the dynamic analysis of constrained multibody systems. The clue for this method lies in the determination of local constraint matrices and their orthogonal complements relative to the local reference frames of particular constrained points. These matrices are then transformed into the system’s configuration space in order to form the final constraint matrix and its orthogonal complement. The avoidance of singularities in the formulation is discussed. The method is especially suited for the dynamic analysis of multibody systems with many constraints and/or closed-loops.

Copyright © 1994 by The American Society of Mechanical Engineers
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