Explicit Poincaré equations of motion for general constrained systems . Part I . Analytical results
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چکیده
Thispapergives the general constrainedPoincaré equationsofmotion formechanical systems subjected to holonomic and/or nonholonomic constraints that may or may not satisfy d’Alembert’s principle at each instant of time. It also extends Gauss’s principle of least constraint to include quasi-accelerations when the constraints are ideal, thereby expanding the compass of thisprinciple considerably.Thenewequations providedeeper insights into the dynamics of multi-body systems and point to new ways for controlling them.
منابع مشابه
Explicit Poincaré equations of motion for general constrained systems . Part II . Applications to multi - body dynamics and nonlinear control
The power of the new equations of motion developed in part I of this paper is illustrated using three examples from multi-body dynamics. The first two examples deal with the problem of accurately controlling the orientation of a rigid body, while the third example deals with the synchronization of two rigid bodies so that their relative orientations are ‘locked’ through prescribed dynamical rel...
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تاریخ انتشار 2007