Explicit Equations of Motion for Dynamical Systems with Multiple Constraints

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概要

• 論文の詳細を見る

• In this paper, we proposed a method of deriving equations of motion, which is free of Lagrange multipliers, for a constrained dynamical system with emphasis on its suitability for nonlinear nonholonomic constraints. A local coordinate space is established on the basis of a scaled acceleration-constrained flat surface and the corresponding normal space. Constraint forces are decomposed into components along this local coordinate space. The normal components of constraint forces are determined by the motion of the system and constraints, and the tangential components are arbitrary. Then Gauss' principle of least constraint is employed to minimize the tangential components so as to derive the equations of motion in explicit form. An example demonstrating the general equations derived here is provided.

• Published by the Japan Society of Applied Physics through the Institute of Pure and Applied Physicsの論文
• 2006-06-15

著者

• Chen Po-chih

  Institute Of Applied Mechanics National Taiwan University

• Chang Chia-ou

  Institute Of Applied Mechanics College Of Engineering National Taiwan University

• Chou Chan-shin

  Institute Of Applied Mechanics College Of Engineering National Taiwan University

• Chang Chien

  Department Of Information Management Fooyin University

• Chou Chan-Shin

  Institute of Applied Mechanics, National Taiwan University, Taipei 106, Taiwan

• Chang Chia-Ou

  Institute of Applied Mechanics, National Taiwan University, Taipei 106, Taiwan

• Chang Chien

  Department of Biotechnology, Chia Nan University of Pharmacy & Science

• Chang Chien

  Department of Information Management, Fooyin University, Ta-Liao, Kaohsiung Hsien, Taiwan

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