Multibody systems and associated equations of motion may be distinguished in many ways: holonomic and nonholonomic, linear and nonlinear, tree-structured and closed-loop kinematics, symbolic and numeric equations of motion. The present paper deals with a symbolic derivation of nonlinear equations of motion for nonholonomic multibody systems with closed-loop kinematics, where any generalized coordinates and velocities may be used for describing their kinematics. Loop constraints are taken into account by algebraic equations and Lagrange multipliers. The paper then focuses on the derivation of the corresponding linear equations of motion by eliminating the Lagrange multipliers and applying a computationally efficient symbolic linearization procedure. As demonstration example, a vehicle model with differential steering is used where validity of the approach is shown by comparing the behavior of the linearized equations with their nonlinear counterpart via simulations.
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ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5183-8
PROCEEDINGS PAPER
Symbolic Linearized Equations for Nonholonomic Multibody Systems With Closed-Loop Kinematics Available to Purchase
Márton Kuslits,
Márton Kuslits
Brandenburg University of Technology, Cottbus, Germany
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Dieter Bestle
Dieter Bestle
Brandenburg University of Technology, Cottbus, Germany
Search for other works by this author on:
Márton Kuslits
Brandenburg University of Technology, Cottbus, Germany
Dieter Bestle
Brandenburg University of Technology, Cottbus, Germany
Paper No:
DETC2018-85823, V006T09A003; 10 pages
Published Online:
November 2, 2018
Citation
Kuslits, M, & Bestle, D. "Symbolic Linearized Equations for Nonholonomic Multibody Systems With Closed-Loop Kinematics." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Quebec City, Quebec, Canada. August 26–29, 2018. V006T09A003. ASME. https://doi.org/10.1115/DETC2018-85823
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