SELECTIVE GENERALIZED COORDINATES PARTITIONING METHOD FOR MULTIBODY SYSTEMS WITH NON-HOLONOMIC CONSTRAINTS

摘要

The goal of this research work is to extend the method of generalized coordinates partitioning to include both holonomic and nonholonomic constraints. Furthermore, the paper proposes a method for selective coordinates for integration instead of identifying a set of independent coordinates at each integration step. The effectiveness of the proposed method is presented and compared with full-coordinates integration as well as generalized coordinates partitioning method. The proposed method can treat large-scale systems as one of the main advantages of multi-body systems.