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An orthogonal complement matrix formulation for constrained multibody systems

机译:约束多体系统的正交补图矩阵公式

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摘要

A method is proposed for the automatic generation of an orthogonal complement matrix to the constraint matrix for the dynamic analysis of constrained multibody systems. The clue for this method lies in the determination of local constraint matrices and their orthogonal complements relative to the local reference frames of particular constrained points. These matrices are then transformed into the system's configuration space in order to form the final constraint matrix and its orthogonal complement. The avoidance of singularities in the formulation is discussed. The method is specially suited for the dynamic analysis of multibody systems with many constraints and/or closed-loops.
机译:提出了一种自动生成约束矩阵正交补矩阵的方法,用于约束多体系统的动力学分析。该方法的线索在于确定局部约束矩阵及其相对于特定约束点的局部参考系的正交互补。然后将这些矩阵转换到系统的配置空间中,以形成最终约束矩阵及其正交互补。讨论了在配方中避免奇异之处。该方法特别适用于具有许多约束和/或闭环的多体系统的动态分析。

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