Primal and mixed forms of Hamiltons's principle for constrained rigid body systems: numerical studies

摘要

Constraint equations arise in the dynamics of mechanical systems whenever there is the need to restrict kinematically possible motions of the system. In practical applications, constraint equations can be used to simulate complex, connected systems. If the simulation must be carried out numerically, it is useful to look for a formulation that leads straightforwardly to a numerical approximation.