%0 Journal Article
%A $authorName.trim()
%A $authorName.trim()
%A Qi Zhaohui
%T Recursive method for modeling flexible multibody systems with non-ideal constraints
%D 2008
%R 10.6052/0459-1879-2008-5-2007-577
%J Chinese Journal of Theoretical and Applied Mechanics
%P 684-694
%V 40
%N 5
%X With the recursive kinematics relationship between the two
bodies interconnected with a joint, it is showed that the interaction
between the outermost body and the inboard body in a tree-type multibody
system can be measured by the transmission of the inertia mass and forces.
The non-ideal constraint forces and the constraint forces at the cut-joints
in a closed-loop multibody system can be viewed as external applied forces,
therefore, any mutibody system corresponds to an equivalent tree-type
system. Moreover, the general accelerations of the system appearing in the
constraint equations can be systematically replaced by the Lagrange
multipliers which are related to the constraint forces. Based on the above
ideas, a recursive method is presented, by which, any closed-loop flexible
multibody system with non-ideal constraints can be dynamically reduced to an
equivalent system with only one body in a recursive manner. Consequently,
the inverse of the mass matrix of multibody systems is not involved in the
calculations of the general accelerations, and the number of equations to
solve the non-ideal constraint forces can be reduced to minimum. An example
is analyzed to illustrate and validate the presented method in details.
%U http://lxxb.cstam.org.cn/EN/10.6052/0459-1879-2008-5-2007-577