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Dynamics of Multibody Systems Subjected to Impulsive Constraints |
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| Authors: | Chang Chau-Chin Liu C.Q. Huston Ronald L. |
| Affiliation: | (1) Department of Mechanical Engineering, Southern Taiwan University of Technology, Tainan, 710, Taiwan, R.O.C;(2) Daimler Chrysler Corporation, CIMS 481-47-10, 800 Chrysler Drive East, Auburn Hills, MI, 48326-2757, U.S.A;(3) Department of Mechanical, Industrial and Nuclear Engineering, University of Cincinnati, P.O. Box 210072, Cincinnati, OH, 45221-0072, U.S.A |
| Abstract: | This paper presents a procedure for studying dynamics of multibodysystems subjected to impulsive constraints which may be either holonomicor nonholonomic. The procedure automatically incorporates the effects ofimpulsive constraints through its analysis. The governing equationsthemselves are developed from Kane's equations, using partial velocityvectors and partial angular velocity vectors. Explicit expressions forthe coefficients and terms of the governing equations are presented. Twosubcases are studied: (1) the constraints are instantaneously applied andcontinue to act; and (2) the constraints are instantaneously applied andlifted immediately after completion of impact. The internal impulses ateach joint and constraint impulses associated with the impulsiveconstraints are calculated. The procedure is checked with two examples,whose solutions are established. |
| Keywords: | multibody systems impulsive constraints holonomic or nonholonomic Kane's equations partial velocity partial angular velocity constraint impulses |
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