Author(s)

G. Nelson & R. Quinn

Abstract

A new extension of Lagrange's equation in terms of quasicoordinates is ex- panded to introduce a method of simulating complex multibody systems with many constraints. The extension uses a "global" form of velocity to permit a single matrix equation to be formulated, in a form similar to Newton's Second Law, which completely describes the motion of each "dynamic limb" of the system. Through a series of transformations the equations of motion can be ex- pressed in an arbitrary independent set of generalized coordinates. The same coordinate transformations permit the incorporation of system constraints, such as clutches, brakes, transmissions, and coupling The nature of the resulting algorithm is such that constraints can be changed easily during

Keywords