Modeling of multibody systems with redundant joints

作     者：Zhaohui Qi,a) and Huitao Song b) Department of Engineering Mechanics Dalian University of Technology,Dalian 116023,China 

作者机构：Department of Engineering Mechanics Dalian University of Technology Dalian 116023 China 

出 版 物：《Theoretical & Applied Mechanics Letters》 (力学快报(英文))

年 卷 期：2012年第2卷第6期

页      面：22-26页

学科分类：07[理学] 071102[理学-系统分析与集成] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 0711[理学-系统科学] 0830[工学-环境科学与工程（可授工学、理学、农学学位）] 0707[理学-海洋科学] 0815[工学-水利工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0813[工学-建筑学] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 0814[工学-土木工程] 0825[工学-航空宇航科学与技术] 0836[工学-生物工程] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 

基　　金：supported by the National Natural Science Foundation of China (10972044) 

主　　题：multibody systems redundant constraints joints contact analysis 

摘      要：This paper deals with the modeling of a multibody system in which some pairs of bodies are connected by more than one joints with the same kinematic *** such system,the redundant joints must be removed out artificially to ensure the solvable condition of the equations of motion being *** is believed but not obvious that the redundant joints have no effect on the system *** give a strict positive proof of this argument and present a method to avoid the ambiguity in the reaction forces of redundant joints through contact analysis of joints.