Abstract
The method of multibody systems is discussed with respect to the computerized generation of symbolical equations of motion. The kinematics are presented in an inertial frame and, additionally, in an often very useful moving reference frame. The dynamics include not only spring and damper forces, but also integral forces and contact forces typical for vehicle applications. The equations of motion are found by d’Alembert’s principle and Jourdain’s principle featuring generalized coordinates and generalized velocities, holonomic and nonholonomic constraints. It is also shown how constraint forces, necessary for the modeling of contact and friction, can be computed using a minimal number of equations. Finally, the symbolical formalism NEWEUL is introduced.
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Schiehlen, W.O. (1984). Computer Generation of Equations of Motion. In: Haug, E.J. (eds) Computer Aided Analysis and Optimization of Mechanical System Dynamics. NATO ASI Series, vol 9. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-52465-3_6
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DOI: https://doi.org/10.1007/978-3-642-52465-3_6
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