Numerical methods of closed-loop multibody systems with singular configurations based on the geometrical structure of constraints
Abstract
The geometrical structure of constraints leads to the important conclusion that components of velocities and accelerations in the normal space of the constraint hypersurface are totally determined by the constraints. Orthogonal base vectors of the constraint’s normal and tangent spaces can be obtained by the QR decomposition with column permutation. A numerical method of closed-loop multibody systems with singular configurations is presented, in...
Paper Details
Title
Numerical methods of closed-loop multibody systems with singular configurations based on the geometrical structure of constraints
Published Date
Aug 2, 2021
Journal
Volume
53
Issue
3
Pages
275 - 301
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