Abstract
In this article it is shown how non-holonomic constraints can beincluded in the formulation of the dynamic equations of flexiblemultibody systems. The equations are given in state space formwith the degrees of freedom, their derivatives and the kinematiccoordinates as state variables, which circumvents the use ofLagrangian multipliers. With these independent state variables forthe system the derivation of the linearized equations of motion isstraightforward. The incorporation of the method in a finiteelement based program for flexible multibody systems is discussed.The method is illustrated by three examples, which show, amongother things, how the linearized equations can be used to analysethe stability of a nominal steady motion.
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Schwab, A., Meijaard, J. Dynamics of Flexible Multibody Systems with Non-Holonomic Constraints: A Finite Element Approach. Multibody System Dynamics 10, 107–123 (2003). https://doi.org/10.1023/A:1024575707338
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DOI: https://doi.org/10.1023/A:1024575707338