Abstract
The Gram-Schmidt orthogonalization process is improved to construct a genuine orthonormal and differentiable basis of tangent space for constrained systems. A useful peculiarity of the minimal-order motion equations expressed in terms of the corresponding tengent speeds is that the related mass matrix is the unity matrix, i.e. resolved kinetic equations of motion are obtained. Some other important advantages of the formulation are pointed out, too.
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© 1993 Springer Science+Business Media Dordrecht
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Blajer, W. (1993). Dynamic Analysis of Constrained Multibody Systems in Orthonormalized Tangent Space. In: Schiehlen, W. (eds) Advanced Multibody System Dynamics. Solid Mechanics and Its Applications, vol 20. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0625-4_28
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DOI: https://doi.org/10.1007/978-94-017-0625-4_28
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4253-8
Online ISBN: 978-94-017-0625-4
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