Hybrid control of flexible multi-body systems

A simulation methodology for dynamic analysis of geometrically-contrained rigid/flexible multi-link machines and vehicles

“…The basic idea is that the method allows the assemblage of geometrically constrained bodies which make up the articulated mechanism to be treated as a single-rigid- Another application of multibody dynamics methodologies is the study of ground vehicle systems. The Newton-Euler method requires the development of a free-body diagram for each component [64][65][66][67][68][69][70]. This approach needs to introduce the internal forces at each geometrical constraint point and subsequently eliminates these forces to obtain the system equations of motion.…”

“…The dynamic equations were then reduced to the minimum size (same as the number of system degrees of freedom) by substituting the dependent coordinate variables for the independent coordinate variables. The system total response was determined by integrating the differential equations and solving the geometric constraint equations.Several other methods were also developed to solve the combination of the system differential equations and geometric constraint equations[63][64][65][66]. Most of the studies on the geometrically-constrained mechanical systems were conducted by separately formulating the system differential equations and geometric constraint equations.Undetermined multipliers or Lagrange multipliers were used to augment the systern dynamics equations.…”