Nonlinear Dynamics

, Volume 51, Issue 3, pp 465–475 | Cite as

Another form of equations of motion for constrained multibody systems

  • C. Q. Liu
  • R. L. Huston
Original Paper


This paper presents a new and simplified set of explicit equations of motion for constrained mechanical systems. The equations are applicable with both holonomic and nonholonomic systems and the constraints may, or may not, be ideal. It is shown that this set of equations is equivalent to governing equations developed earlier by others. The connection of these equations with Kane's equations is discussed. It is shown that the developed equations are directly applicable with controlled systems where the controlling forces and moments may be subject to constraints. Finally, a procedure is presented for determining which control force systems are equivalent. Examples are presented to demonstrate the advantages, features, and range of application of the equations.


Multibody systems Constraints Computational efficiency Controlled systems 


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Copyright information

© Springer Science+Business Media, Inc. 2007

Authors and Affiliations

  1. 1.NVH Development and Engineering, CIMS 481-47-10, DaimlerChrysler CorporationAuburn HillsUSA
  2. 2.Department of Mechanical, Industrial, and EngineeringUniversity of CincinnatiCincinnatiUSA

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