日本機械学会論文集 C編
Online ISSN : 1884-8354
Print ISSN : 0387-5024
マルチボディ・システムの統一的定式化法 : 不等式拘束の取り扱い
長田 隆
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ジャーナル フリー

2000 年 66 巻 649 号 p. 2926-2930

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A new formulation applicable to a very large class of rigid and flexible multibody systems subjected to equality and latch-type inequality constraints is presented. It is a natural extension of the variable-gain penalty method for systems with holonomic and nonholonomic equality constraints, developed by the author. This paper focuses on the conversion of the inequality constraints to equalities, though it also summarizes the penalty algorithm. Dynamical validity and efficiency of the approach are checked through numerical study of a flexible link system with a latch joint.

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