Jin Huang, Ye-Hwa Chen, and Konghui Guo
Multibody system, Modeling, Constraint
A novel approach for discrete multibody system modeling is presented. The approach segments the multibody system into a series of subsystems with kinematic constraints. The equations of motion of the ""unconstrained"" subsystems either are easier to obtain or already exist. The Udwadia-Kalaba equation is then introduced to calculate the constraint forces due to the presence of constraints. The approach does not require any auxiliary variables, such as Lagrange multipliers, nor does it need projection.
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