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Dynamics of multibody systems subjected to impulsive constraints. (English) Zbl 1034.70004

Summary: This paper presents a procedure for studying dynamics of multibody systems subjected to impulsive constraints which may be either holonomic or nonholonomic. The procedure automatically incorporates the effects of impulsive constraints. The governing equations are developed from Kane’s equations, using partial velocity vectors and partial angular velocity vectors. Explicit expressions for coefficients and terms of the governing equations are presented. Two subcases are studied: (1) the constraints are instantaneously applied and continue to act; and (2) the constraints are instantaneously applied and lifted immediately after completion of impact. The internal impulses at each joint and constraint impulses associated with the impulsive constraints are calculated. The procedure is checked with two examples.

MSC:

70E55 Dynamics of multibody systems
70F20 Holonomic systems related to the dynamics of a system of particles
70F25 Nonholonomic systems related to the dynamics of a system of particles
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