Numerical integration of multibody dynamic systems involving nonholonomic equality constraints

This work considers a class of multibody dynamic systems involving bilateral nonholonomic constraints. An appropriate set equations motion is employed first. derived by application Newton’s second law and appears as coupled system strongly nonlinear second-order ordinary differential in both the generalized coordinates Lagrange multipliers associated with Next, these are manipulated properly converted to weak form. Furthermore, position, velocity momentum type quantities subsequently treated independent. yields three-field motion, which then used basis for performing suitable temporal discretization, leading complete time integration scheme. In order test validate its accuracy numerical efficiency, this scheme applied next challenging mechanical examples, exhibiting rich dynamics. all cases, emphasis put on highlighting advantages new method direct comparison existing analytical solutions well results current state-of-the-art methods. Finally, also performed available benchmark problem.