封面
英文摘要
声明
中文摘要
Contents
Chapter 1 Introduction
Chapter 2 Literature Review
2.1 Algebraic Elimination of Lagrange Multipliers
2.2 Stabilization Techniques
Chapter 3 Research Questions
Chapter 4 Preliminaries on the Formulation for Multibody Dynamics
4.1 Lagrange’s Formulation
4.2 Penalty Formulation
4.3 Penalty Based Augmented Lagrangian Method
4.4 Conclusion
Chapter 5 Elimination of Constraint Violation
5.1 Velocity Constraint Violations Elimination Techniques
5.2 Acceleration Constraint Violation Elimination Tech- niques
Chapter 6 Numerical Example and Results
6.1 The Simple Pendulum
6.2 The Quick Return Mechanism
Chapter 7 Practical Implementation of Constraints
7.1 Revolute Joints
Chapter 8 Conclusions
Appendix A Generalized-a Integration Method
Appendix B Penalty Factors Test
参考文献