The Maggi and Kane equations of motion are valid for systems with only nonholonomic constraints, but may fail when applied to systems with holonomic constraints. A tangent space ordinary differential equation (ODE) extension of the Maggi and Kane formulations that enforces holonomic constraints is presented and shown to be theoretically sound and computationally effective. Numerical examples are presented that demonstrate the extended formulation leads to solutions that satisfy position, velocity, and acceleration constraints for holonomic systems to near computer precision.
Extension of Maggi and Kane Equations to Holonomic Dynamic Systems
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received June 18, 2018; final manuscript received September 16, 2018; published online October 15, 2018. Assoc. Editor: Paramsothy Jayakumar.
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Haug, E. J. (October 15, 2018). "Extension of Maggi and Kane Equations to Holonomic Dynamic Systems." ASME. J. Comput. Nonlinear Dynam. December 2018; 13(12): 121003. https://doi.org/10.1115/1.4041579
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