Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations
- 1 February 1997
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 16 (1), 47-59
- https://doi.org/10.1177/027836499701600104
Abstract
This article describes a new technique for deriving dynamic equations of motion for serial chain and tree topology mech anisms with common nonholonomic constraints. For each type of nonholonomic constraint, the Boltzmann-Hamel equations produce a concise set of dynamic equations. These equations are similar to Lagrange's equations and can be applied to mechanisms that incorporate that type of constraint. A small library of these equations can be used to efficiently analyze many different types of mechanisms. Nonholonomic constraints are usually included in a La grangian setting by adding Lagrange multipliers and then eliminating them from the final set of equations. The ap proach described in this article automatically produces a minimum set of equations of motion that do not include La grange multipliers.Keywords
This publication has 1 reference indexed in Scilit:
- Equations of Motion for Structures in Terms of Quasi-CoordinatesJournal of Applied Mechanics, 1990