Dynamics of Flexible Multibody Systems with Non-Holonomic Constraints: A Finite Element Approach

摘要

In this article it is shown how non-holonomic constraints can be included in the formulation of the dynamic equations of flexible multibody systems. The equations are given in state space form with the degrees of freedom, their derivatives and the kinematic coordinates as state variables, which circumvents the use of Lagrangian multipliers. With these independent state variables for the system the derivation of the linearized equations of motion is straightforward. The incorporation of the method in a finite element based program for flexible multibody systems is discussed. The method is illustrated by three examples, which show, among other things, how the linearized equations can be used to analysed the stability of a nominal steady motion.