MECHANICAL INTEGRATORS FOR THE INVERSE DYNAMICS OF DISSIPATIVE MULTIBODY SYSTEMS

摘要

A unified approach for the description of multibody systems is presented, relying on a rotationless formulation for rigid bodies. The set of differential algebraic equations governing the motion of multibody dynamics does not only beneficially offer the design of energy-momentum schemes but it also bears the advantage to be extended by vital modeling features. In this spirit we present within this paper the modeling of friction phenomena such as joint friction and the incorporation of control constraints. Both features rely on a specific augmentation technique which introduces rotational degrees of freedom into the rotationless formulation. An example of a partially controlled movement of a free floating parallel platform with joint friction will demonstrate the performance of the newly developed energy-momentum consistent scheme.