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Computational Methods in Mechanical Systems pp 197–211Cite as

Efficient Description and Geometrical Interpretation of the Dynamics of Constrained Systems

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Part of the book series: NATO ASI Series ((NATO ASI F,volume 161))

Summary

The methodology of multibody dynamics is briefly discussed. As an example of a descriptor formulation, the mass-orthogonal projection method is presented and it’s numerical efficiency illustrated by an example of a dynamic optimization problem. Typically, in a descriptor formulation, the numerical efficiency depends on the particular choice of the equations in the redundant variables. Also, the use of sparse-matrix techniques may be advantageous. In a second part, the geometric interpretation of dynamics is reviewed. As an example, the topology of the configuration space of a four-bar linkage is discussed.

Dedicated to my Friend John Tinsley Oden on the Occasion of his Sixtieth Birthday

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Author information

Authors and Affiliations

  1. Institute of Mechanics, ETH-Zentrum, 8092, Zürich, Switzerland

    Hans Brauchli

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  1. Hans Brauchli
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Editors and Affiliations

  1. Department of Mechanical Engineering and McGill Centre for Intelligent Machines, McGill University, 817 Sherbrooke Street W., Montreal, Quebec, Canada, H3A 2K6

    Jorge Angeles

  2. Institute of Mechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev Street, bl. 4, BG-1113, Sofia, Bulgaria

    Evtim Zakhariev

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© 1998 Springer-Verlag Berlin Heidelberg

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Brauchli, H. (1998). Efficient Description and Geometrical Interpretation of the Dynamics of Constrained Systems. In: Angeles, J., Zakhariev, E. (eds) Computational Methods in Mechanical Systems. NATO ASI Series, vol 161. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-03729-4_9

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  • DOI: https://doi.org/10.1007/978-3-662-03729-4_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-08369-3

  • Online ISBN: 978-3-662-03729-4

  • eBook Packages: Springer Book Archive

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