Summary
From d’Alembert’s principle exact nonlinear differential equations of motion are derived for systems which are composed of an arbitrary number of rigid bodies with an arbitrary interconnection structure and with arbitrary ideal constraints in hinges between bodies (the term hinge is used for any kind of connection between two bodies). The paper represents a generalization of earlier investigations by Fischer [1], Hooker [2, 3], Margoulis [2], Roberson [4, 5], Boland/Samin/Willems [6], Lilov [7] and Wittenburg [4, 7, 8]. A comprehensive textbook on the subject was written by Wittenburg [9].
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Literature
Fischer, O.: Theoretische Grundlagen für eine Mechanik der lebenden Körper. Teubner Leipzig 1906
Hooker, W.W.; Margoulis, G.: The Dynamical Attitude Equations for an n-Body Satellite. J. Astronaut. Sci. 12 (1965)
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Boland, Ph.; Samin, J.C.; Willems, P.Y.: On the Stability of Interconnected Deformable Bodies. Euromech 38 Coll. Springer 1974
Lilov, L.; Wittenburg, J.: Bewegungsgleichungen für Systeme starrer Körper mit Gelenken beliebiger Eigenschaften. ZAMM 57 (1977) 137–152
Wittenburg, J.: Automatic Construction of Nonlinear Equations of Motion for Systems With Many Degrees of Freedom. Euromech 38 Coll. Springer 1974
Wittenburg, J.: Dynamics of Systems of Rigid Bodies. Teubner, Leitfäden der Angewandten Math. u. Mech. Bd. 33, 1977
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© 1978 Springer-Verlag, Berlin/Heidelberg
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Wittenburg, J. (1978). Nonlinear Equations of Motion for Arbitrary Systems of Interconnected Rigid Bodies. In: Magnus, K. (eds) Dynamics of Multibody Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-86461-2_29
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DOI: https://doi.org/10.1007/978-3-642-86461-2_29
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