Integrability of the constrained rigid body

Integrability of the constrained rigid body

The integrability theory for the differential equations, which describe the motion of an unconstrained rigid body around a fixed point is well known. When there are constraints the theory of integrability is incomplete. The main objective of this paper is to analyze the integrability of the equations of motion of a constrained rigid body around a fixed point in a force field with potential U(γ ...

Jamming and Wedging in Constrained Rigid-Body Dynamics

It is well known that the introduction of Coulomb fric tion in rigid body dynamics can lead to problems of exis tence and uniqueness in the forward equations In this pa per it is shown that these problems relate to jamming and wedging Separate conditions for jamming and wedging are provided in the three common formulations of constrained systems These conditions are illustrated with examples

Mass Properties Identification of a Rigid Body Using Modal Analysis

In performing vibration analysis of the car engine on the engine support, it is necessary to know the mass properties of the engine including mass, position of the center of mass and mass inertia moments. Because the car engine has a relatively complex geometric shape and is composed of different components with different densities, determining its mass properties faces many challenges. There a...

Improved “Order-N” Performance Algorithm for the Simulation of Constrained Multi-Rigid-Body Dynamic Systems

This paper presents an algorithm for the efficient numerical analysis and simulation of modest to heavily constrained multi-rigid-body dynamic systems. The algorithm can accommodate the spatial motion of general multi-rigid-body systems containing arbitrarily many closed loops in O(n+m) operations overall for systems containing n generalized coordinates, and m independent algebraic constraints....

The Lagrange rigid body motion