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Chapter 4
Purpose: Degree of freedom is not known, therefore force analysis is necessary and
system of equations for motion must be formulated to equal the number of
unknown variables.
Unconstrained motion: Newton-Euler equations
Constrained, Multibody Dynamics: choosing different coordinate systems lead to
different forms of dynamic equations.
"Since the degrees of freedom, by definition, are independent and are not related
by kinematic relationships, it is expected that the constraint forces are
automatically eliminated when the equations of motion are formulated in terms of
the degrees of freedom.
m a y =F y
J i i=M i
Can use this equation for differential equations to govern unconstrained planar
motion of a rigid body if reference point is to be the center of mass of the body.
Joint reaction forces and acceleration are included in these set of equations
4.8 Conclusion
Two main methods in computational dynamics: augmented formulation and
embedding technique.
Augmented = large system, redundant coordinates, kinematic constraints. (#
of dependent
coordinates = # of independent constraint forces)
Use: General purpose multibody computer programs
Embedding Technique: Vector of system acceleration, using velocity
transform we get independent accelerations. Minimum number of equations,
expressed as these independent
acceleration terms.
Use: eliminate constraint forces