Differential-Geometric Aspects of Constrained System Dynamics

  • Wojciech Blajer
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 511)


Multibody systems are intensively used to simulate the dynamic behavior of interconnected rigid and/or flexible bodies, i.e., the mechanical system models encountered in many technological disciplines like robotics, spacecrafts design, machine/vehicle dynamics and biomechanics. Based on classical mechanics, and stimulated by the powerful investigation tools offered by computational techniques, numerous effective multibody formalisms have been developed to analyze the increasingly complex mechanical systems (Schiehlen, 1990, 1997; Shabana, 1997; Eberhard and Schiehlen, 2006)


Constraint Equation Multibody System Multibody Dynamic Kinematical Joint Multibody System Dynamic 
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Copyright information

© CISM, Udine 2009

Authors and Affiliations

  • Wojciech Blajer
    • 1
  1. 1.Institute of Applied Mechanics, Faculty of Mechanical EngineeringTechnical University of RadomRadomPoland

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