This paper deals with noncontributing forces, usually called constraint forces or reaction forces, arising in simple, nonholonomic multibody systems. These forces are related to two kinds of constraints, namely, kinematical constraints—derived from kinematical requirements, and auxiliary constraints, introduced for the purpose of constraint forces determination. Here, the method of “auxiliary generalized speeds” is used to bring into evidence constraint forces related to the two kinds of constraints. It is shown that auxiliary generalized speeds can always be chosen in a way that gives rise to additional equations each having one measure number of a constraint force as an unknown. Motion equations can thus be generated and solved without regard to constraint forces determination; and constraint forces can be determined with no matrix inversion, at a minimal computational cost.
Constraint Forces and the Method of Auxiliary Generalized Speeds
Contributed by the Applied Mechanics Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF APPLIED MECHANICS. Manuscript received by the ASME Applied Mechanics Division, Mar. 7, 2001; final revision, Oct. 10, 2002. Associate Editor: A. A. Ferri. Discussion on the paper should be addressed to the Editor, Prof. Robert M. McMeeking, Department of Mechanical and Environmental Engineering University of California–Santa Barbara, Santa Barbara, CA 93106-5070, and will be accepted until four months after final publication of the paper itself in the ASME JOURNAL OF APPLIED MECHANICS.
Djerassi , S., and Bamberger, H. (August 25, 2003). "Constraint Forces and the Method of Auxiliary Generalized Speeds ." ASME. J. Appl. Mech. July 2003; 70(4): 568–574. https://doi.org/10.1115/1.1572902
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